Surgical arm system with internally driven gear assemblies

ABSTRACT

Example embodiments relate to robotic arm assemblies. The robotic arm assembly may include upper arm segment and shoulder coupling joint assembly. Upper arm segment includes a motor. Shoulder coupling joint assembly connects upper arm segment to shoulder segment. Shoulder coupling joint assembly includes distal and proximal shoulder joint subassemblies. Distal shoulder joint subassembly is connected to the upper arm segment. Distal shoulder joint subassembly includes gear train system having gear stages including first distal elbow gear stage and second distal elbow gear stage. First distal elbow gear stage includes bevel gears. Second distal elbow gear stage includes a planetary gear assembly. Proximal shoulder joint subassembly connects the shoulder segment to the distal shoulder joint subassembly.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of U.S. application Ser. No.16/172,408 (filed on Oct. 26, 2018), which is a continuation of U.S.application Ser. No. 15/864,628 (filed on Jan. 8, 2018), now U.S. Pat.No. 10,172,680, which is a continuation of U.S. application Ser. No.15/605,864 (filed on May 25, 2017), now U.S. Pat. No. 9,895,200, whichis a:

(A) continuation-in-part of U.S. application Ser. No. 15/340,660 (filedon Nov. 1, 2016), now U.S. Pat. No. 9,724,168, which is acontinuation-in-part of U.S. application Ser. No. 15/044,889 (filed onFeb. 16, 2016), now U.S. Pat. No. 9,737,372, a continuation-in-part ofU.S. application Ser. No. 15/044,895 (filed on Feb. 16, 2016), and acontinuation-in-part of U.S. application Ser. No. 14/693,207 (filed Apr.22, 2015), which claims priority to U.S. Provisional Application No.61/982,717 (filed Apr. 22, 2014);

(B) continuation-in-part of U.S. application Ser. No. 15/340,678 (filedon Nov. 1, 2016, now U.S. Pat. No. 9,855,108, which is acontinuation-in-part of U.S. application Ser. No. 15/044,889 (filed onFeb. 16, 2016), now U.S. Pat. No. 9,737,372, a continuation-in-part ofU.S. application Ser. No. 15/044,895, and a continuation-in-part of U.S.application Ser. No. 14/693,207 (filed on Apr. 22, 2015, which claimspriority to U.S. Provisional Application No. 61/982,717 (filed on Apr.22, 2014);

(C) continuation-in-part of U.S. application Ser. No. 15/340,699 (filedon Nov. 1, 2016, now U.S. Pat. No. 9,827,058;

(D) continuation-in-part of U.S. application Ser. No. 14/693,207 (filedon Apr. 22, 2015, which claims priority to U.S. Provisional ApplicationNo. 61/982,717, (filed on Apr. 22, 2014);

(E) continuation-in-part of U.S. application Ser. No. 15/044,895 (filedon Feb. 16, 2016, which is a continuation-in-part of U.S. applicationSer. No. 14/693,207 (filed on Apr. 22, 2015), which claims priority toU.S. Provisional Application No. 61/982,717 (filed on Apr. 22, 2014);and

(F) continuation-in-part of U.S. application Ser. No. 15/044,889 (filedon Feb. 16, 2016, now U.S. Pat. No. 9,737,372, which is acontinuation-in-part of U.S. application Ser. No. 14/693,207 (filed onApr. 22, 2015), which claims priority to U.S. Provisional ApplicationNo. 61/982,717 (filed on Apr. 22, 2014).

The contents of all of the aforementioned related applications arehereby expressly incorporated by reference in their entirety, includingthe contents and teachings of any references contained therein.

BACKGROUND

Conventionally, surgical procedures performed in a body cavity of apatient, such as the abdominal cavity, required one or more large accessincisions to a patient in order for the surgical team to perform asurgical action. With advancements in medical science and technology,such conventional surgical procedures have been largely replaced byminimally invasive surgery (MIS) procedures and, where applicable,natural orifice transluminal endoscopic surgical procedures (NOTES).Recent developments in respect to computer-assisted and/or roboticsurgical technology have contributed to advancements in the MIS andNOTES fields, including the ability to translate a surgeon's desiredsurgical actions into precise movements of surgical instruments inside abody cavity of a patient.

BRIEF SUMMARY

Despite recent developments in modern medical science and technology, itis recognized in the present disclosure that one or more problems areencountered in modern surgical technology and methodology. For example,a typical MIS procedure requires multiple incisions to a patient inorder to allow access via the incisions for the insertion of a cameraand various other laparoscopic instruments into the body cavity of thepatient.

As another example, surgical robotic systems oftentimes facedifficulties in providing, at the same time within a patient's cavity,left and right surgical robotic arms each having a main instrument (suchas a cutting or gripping instrument attached to the end of a surgicalrobotic arm) and one or more assistant instruments (such as a gripper,retractor, suction/irrigation, and/or image capturing device).

It is also recognized in the present disclosure that surgical roboticsystems face difficulties in providing an instrument, such as a cuttingor gripping instrument attached to the end of a surgical robotic arm,with access to all or even most parts, areas, and/or quadrants ofabdominal cavity of a patient. That is, after the surgical robotic armis inserted in the abdominal cavity of the patient and ready to performa surgical action, the instrument attached to the end of the surgicalrobotic arm is typically limited to access only certain parts, areas,and quadrants of the abdominal cavity of the patient.

In yet another example, known surgical robotic systems typically provideonly between one to two surgical robotic arms per access or opening(such as an incision or a natural orifice) of the patient. In thisregard, one or more additional incisions will be required for theinsertion of a camera and various laparoscopic instruments into theabdominal cavity of the patient.

Present example embodiments relate generally to and/or comprise systems,subsystems, processors, devices, logic, and methods for addressingconventional problems, including those described above.

In an exemplary embodiment, a robotic arm assembly is disclosed. Therobotic arm assembly may include a forearm segment, upper arm segment,shoulder segment, elbow coupling joint assembly, and shoulder couplingjoint assembly. The forearm segment may be formed as an elongatedstructure with a proximal end and a distal end. The upper arm segmentmay be formed as an elongated structure with a proximal end and a distalend. The upper arm segment may include a first proximal motor. The firstproximal motor may include a first proximal motor drive portion at theproximal end of the upper arm segment. The first proximal motor driveportion may be configured to rotate relative to a first axis. The firstaxis may be parallel to a central axis of the upper arm segment. Theshoulder segment may have a proximal end and a distal end. The elbowcoupling joint assembly may connect the proximal end of the forearmsegment to the distal end of the upper arm segment. The shouldercoupling joint assembly may connect the proximal end of the upper armsegment to the distal end of the shoulder segment. The shoulder couplingjoint assembly may include a distal shoulder joint subassembly and aproximal shoulder joint subassembly. The distal shoulder jointsubassembly may be connected at a distal end to the proximal end of theupper arm segment. The distal shoulder joint subassembly may have a geartrain system with a plurality of gear stages including a first distalshoulder gear stage and a second distal shoulder gear stage. The firstdistal shoulder gear stage may include a first distal shoulder bevelgear connected to the first proximal motor drive portion of the firstproximal motor. The first distal shoulder bevel gear may be configuredto be driven by the first proximal motor to rotate relative to the firstaxis. The first distal shoulder gear stage may also include a seconddistal shoulder bevel gear drivable by the first distal shoulder bevelgear. The second distal shoulder bevel gear may be configured to rotaterelative to a first main shoulder axis when driven by the first distalshoulder bevel gear. The first main shoulder axis may be orthogonal tothe first axis. The second distal shoulder gear stage may include adistal shoulder planetary gear assembly. The distal shoulder planetarygear assembly may include a distal shoulder sun gear connected to thesecond distal shoulder bevel gear. The distal shoulder sun gear may beconfigured to be driven by the second distal shoulder bevel gear torotate relative to the first main shoulder axis. The distal shoulderplanetary gear assembly may also include a distal shoulder ring gearconfigured to not rotate relative to the first main shoulder axis. Thedistal shoulder planetary gear assembly may also include a plurality ofdistal shoulder planetary gears drivable by the distal shoulder sungear. The distal shoulder planetary gear assembly may also include adistal shoulder planetary gear carrier connected at one end to theplurality of distal shoulder planetary gears in such a way that when thedistal shoulder sun gear rotates relative to the first main shoulderaxis, the distal shoulder planetary gear carrier rotates relative to thefirst main shoulder axis. The proximal shoulder joint subassembly mayconnect the distal end of the shoulder segment to the distal shoulderjoint subassembly. The proximal shoulder joint subassembly may beconfigurable to be driven in such a way as to pivotally rotate the upperarm segment relative to a second main shoulder axis. The second mainshoulder axis may be orthogonal to the first main shoulder axis. Thedistal shoulder planetary gear carrier may be connected at another endto the proximal end of the upper arm segment. When the distal shouldersun gear is driven to rotate relative to the first main shoulder axis,the distal shoulder planetary gear carrier may drive the upper armsegment to pivotally rotate relative to the first main shoulder axis.

In another exemplary embodiment, a robotic arm assembly is disclosed.The robotic arm assembly may include a forearm segment, an upper armsegment, a shoulder segment, an elbow coupling joint assembly, and ashoulder coupling joint assembly. The forearm segment may be formed asan elongated structure with a proximal end and a distal end. The upperarm segment may be formed as an elongated structure with a proximal endand a distal end. The upper arm segment may include a first proximalmotor. The first proximal motor may include a first proximal motor driveportion at the proximal end of the upper arm segment. The first proximalmotor drive portion may be configured to rotate relative to a firstaxis. The first axis may be parallel to a central axis of the upper armsegment. The shoulder segment may include a proximal end and a distalend. The elbow coupling joint assembly may connect the proximal end ofthe forearm segment to the distal end of the upper arm segment. Theshoulder coupling joint assembly may connect the proximal end of theupper arm segment to the distal end of the shoulder segment. Theshoulder coupling joint assembly may include a distal shoulder connectedat a distal end to the proximal end of the upper arm segment. The distalshoulder joint subassembly may be configurable to be driven in such away as to pivotally rotate the upper arm segment relative to a firstmain shoulder axis. The shoulder coupling joint assembly may alsoinclude a proximal shoulder joint subassembly connecting the distal endof the shoulder segment to the distal shoulder joint subassembly. Theproximal shoulder joint subassembly may include a gear train system witha plurality of gear stages including a first proximal shoulder gearstage, a second proximal shoulder gear stage, a third proximal shouldergear stage, and a fourth proximal shoulder gear stage. The firstproximal shoulder gear stage may include a first proximal shoulder bevelgear connected to the first proximal motor drive portion of the firstproximal motor. The first proximal shoulder bevel gear may be configuredto be driven by the first proximal motor to rotate relative to the firstaxis. The first proximal shoulder gear stage may also include a secondproximal shoulder bevel gear drivable by the first proximal shoulderbevel gear. The second proximal shoulder bevel gear may be configured torotate relative to a first main shoulder axis when driven by the firstproximal shoulder bevel gear. The first main shoulder axis may beorthogonal to the first axis. The first proximal shoulder gear stage mayalso include a third proximal shoulder bevel gear drivable by the secondproximal shoulder bevel gear. The third proximal shoulder bevel gear maybe configured to rotate relative to an axis orthogonal to the first mainshoulder axis when the first proximal shoulder bevel gear drives thesecond proximal shoulder bevel gear to rotate relative to the first mainshoulder axis. The second proximal shoulder gear stage may include afirst proximal shoulder spur gear connected to the third proximalshoulder bevel gear. The first proximal shoulder spur gear may beconfigured to rotate relative to a same axis of rotation as the thirdproximal shoulder bevel gear when the third proximal shoulder bevel gearis driven to rotate. The second proximal shoulder gear stage may alsoinclude a second proximal shoulder spur gear drivable by the firstproximal shoulder spur gear. The second proximal shoulder spur gear maybe configured to rotate relative to an axis of rotation that is parallelto the axis of rotation of the first proximal shoulder spur gear whenthe second proximal shoulder spur gear is driven by the first proximalshoulder spur gear. The third proximal shoulder gear stage may include afourth proximal shoulder bevel gear connected to the second proximalshoulder spur gear. The fourth proximal shoulder bevel gear may beconfigured to be driven by the second proximal shoulder spur gear torotate relative to the same axis of rotation as that of the secondproximal shoulder spur gear. The third proximal shoulder gear stage mayalso include a fifth proximal shoulder bevel gear drivable by the fourthproximal shoulder bevel gear. The fifth proximal shoulder bevel gear maybe configured to rotate relative to a second main shoulder axis whendriven by the fourth proximal shoulder bevel gear. The second mainshoulder axis may be orthogonal to the first main shoulder axis. Thefourth proximal shoulder gear stage may include a proximal shoulderplanetary gear assembly. The proximal shoulder planetary gear assemblymay include a proximal shoulder sun gear configured to be driven by thefifth proximal shoulder bevel gear to rotate relative to the second mainshoulder axis. The proximal shoulder planetary gear assembly may alsoinclude a proximal shoulder ring gear configured to not rotate relativeto the second main shoulder axis. The proximal shoulder planetary gearassembly may also include a plurality of proximal shoulder planetarygears drivable by the proximal shoulder sun gear. The proximal shoulderplanetary gear assembly may also include a proximal shoulder planetarygear carrier connected at one end to the plurality of proximal shoulderplanetary gears in such a way that when the proximal shoulder sun gearrotates relative to the second main shoulder axis, the proximal shoulderplanetary gear carrier rotates relative to the second main shoulderaxis. The proximal shoulder planetary gear carrier may be connected atanother end to the distal end of the shoulder segment in such a way thatwhen the proximal shoulder sun gear is driven to rotate relative to thesecond main shoulder axis, the proximal shoulder planetary gear carrierdrives the upper arm segment to pivotally rotate relative to the secondmain shoulder axis.

In another exemplary embodiment, a robotic arm assembly is disclosed.The robotic arm assembly may include a forearm segment, an upper armsegment, a shoulder segment, an elbow coupling joint assembly, and ashoulder coupling joint assembly. The forearm segment may be formed asan elongated structure with a proximal end and a distal end. The upperarm segment may be formed as an elongated structure with a proximal endand a distal end. The upper arm segment may include a first proximalmotor. The first proximal motor may include a first proximal motor driveportion at the proximal end of the upper arm segment. The first proximalmotor drive portion may be configured to rotate relative to a first axisof rotation. The shoulder segment may include a proximal end and adistal end. The elbow coupling joint assembly may connect the proximalend of the forearm segment to the distal end of the upper arm segment.The shoulder coupling joint assembly may connect the proximal end of theupper arm segment to the distal end of the shoulder segment via a serialarrangement of a distal shoulder joint and a proximal shoulder joint.The distal shoulder joint may form a distal main shoulder axis. Theproximal shoulder joint may form a proximal main shoulder axis. Thedistal main shoulder axis may be orthogonal to the proximal mainshoulder axis. The shoulder coupling joint assembly may include a distalshoulder joint subassembly and a proximal shoulder joint subassembly.The distal shoulder joint subassembly may be connected at a distal endto the proximal end of the upper arm segment. The distal shoulder jointsubassembly may be configurable to be driven in such a way as topivotally rotate the upper arm segment relative to the distal mainshoulder axis. The proximal shoulder joint subassembly may connect thedistal end of the shoulder segment to the distal shoulder jointsubassembly. The proximal shoulder joint subassembly may include a firstproximal shoulder bevel gear configured to be driven by the firstproximal motor drive portion of the first proximal motor. The proximalshoulder joint subassembly may also include a first proximal shoulderintegrated gear assembly. The first proximal shoulder integrated gearassembly may include a first integrated bevel gear portion. The firstintegrated bevel gear portion may be configured to be driven by thefirst proximal shoulder bevel gear when the first proximal shoulderbevel gear is driven by the first proximal motor drive portion of thefirst proximal motor. The first proximal shoulder integrated gearassembly may also include a first integrated spur gear portion. Thefirst integrated spur gear portion may be adjoined to the firstintegrated bevel gear portion in such a way that when the first proximalshoulder bevel gear is driven by the first proximal motor drive portionof the first proximal motor, the first integrated bevel gear portion andthe first integrated spur gear portion are driven to rotate along a sameaxis of rotation and same rate of rotation. The proximal shoulder jointsubassembly may also include a second proximal shoulder integrated gearassembly. The second proximal shoulder integrated gear assembly mayinclude a second integrated spur gear portion. The second integratedspur gear portion may be configured to be driven by the first integratedspur gear portion when the first integrated gear portion is driven bythe first proximal shoulder bevel gear. The second proximal shoulderintegrated gear assembly may also include a second integrated bevel gearportion. The second integrated bevel gear portion may be adjoined to thesecond integrated spur gear portion in such a way that when the firstproximal shoulder bevel gear is driven by the first proximal motor driveportion of the first proximal motor, the second integrated spur gearportion and the second integrated bevel gear portion are driven torotate along a same axis of rotation and same rate of rotation. Theproximal shoulder joint subassembly may also include a second proximalshoulder bevel gear configured to be driven by the second integratedbevel gear portion of the second proximal shoulder integrated gearassembly to rotate relative to the proximal main shoulder axis. Theproximal shoulder joint subassembly may also include a proximal shoulderplanetary gear assembly. The proximal shoulder planetary gear assemblymay include a proximal shoulder sun gear. The proximal shoulder sun gearmay be configured to be driven by the second proximal shoulder bevelgear to rotate relative to the proximal main shoulder axis. The proximalshoulder planetary gear assembly may also include a proximal shoulderring gear configured to not rotate relative to the proximal mainshoulder axis. The proximal shoulder planetary gear assembly may alsoinclude a plurality of proximal shoulder planetary gears drivable by theproximal shoulder sun gear. The proximal shoulder planetary gearassembly may also include a proximal shoulder planetary gear carrierconnected at one end to the plurality of proximal shoulder planetarygears in such a way that when the proximal shoulder sun gear rotatesrelative to the proximal main shoulder axis, the proximal shoulderplanetary gear carrier rotates relative to the proximal main shoulderaxis. The proximal shoulder planetary gear carrier may be connected atanother end to the distal end of the shoulder segment in such a way thatwhen the proximal shoulder sun gear is driven to rotate relative to theproximal main shoulder axis, the proximal shoulder planetary gearcarrier drives the upper arm segment to pivotally rotate relative to theproximal main shoulder axis.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the present disclosure, exampleembodiments, and their advantages, reference is now made to thefollowing description taken in conjunction with the accompanyingdrawings, in which like reference numbers indicate like features, and:

FIG. 1A is illustration of a perspective view of an example embodimentof an external anchor;

FIG. 1B is another illustration of a perspective view of an exampleembodiment of an external anchor attached to an example embodiment of aport assembly;

FIG. 2A is an illustration of a perspective view of an exampleembodiment of a surgical device configured in a reverse-directedposition;

FIG. 2B is an illustration of a perspective view of an exampleembodiment of a surgical device configured in a forward-directedposition;

FIG. 2C is another illustration of a perspective view of an exampleembodiment of a surgical device configured in a reverse-directedposition;

FIG. 2D is another illustration of a perspective view of an exampleembodiment of a surgical device configured in a forward-directedposition;

FIG. 3A is another illustration of a perspective view of an exampleembodiment of a surgical device configured in a reverse-directedposition;

FIG. 3B is another illustration of a perspective view of an exampleembodiment of a surgical device configured in a forward-directedposition;

FIG. 3C is another illustration of a perspective view of an exampleembodiment of a surgical device configured in a reverse-directedposition;

FIG. 3D is another illustration of a perspective view of an exampleembodiment of a surgical device configured in a forward-directedposition;

FIG. 4A is an illustration of a perspective exploded view of an exampleembodiment of a port assembly;

FIG. 4B is an illustration of a side view of an example embodiment of aport assembly;

FIG. 4C is an illustration of a cross-sectional view of an exampleembodiment of a port assembly with a first or second gate assembly inthe open position;

FIG. 4D is an illustration of a cross-sectional view of an exampleembodiment of a port assembly with a first or second gate assembly inthe closed position;

FIG. 5A is an illustration of a side view of an example embodiment of aninstrument arm assembly;

FIG. 5B is another illustration of a side view of an example embodimentof an instrument arm assembly;

FIG. 5C is an illustration of a perspective view of an exampleembodiment of an instrument arm assembly;

FIG. 5D is an illustration of a side view of an example embodiment of anend-effector assembly secured to an arm assembly;

FIG. 5E is an illustration of a side cross-sectional view of an exampleembodiment of an end-effector assembly secured to an arm assembly;

FIG. 5F is an illustration of a side view of an example embodiment of anend-effector assembly unsecured from an arm assembly;

FIG. 5G is an illustration of a side cross-sectional view of an exampleembodiment of an end-effector assembly unsecured from an arm assembly;

FIG. 5H is an illustration of a perspective view of an exampleembodiment of an end-effector assembly;

FIG. 5I is an illustration of a perspective view of an exampleembodiment of an instrument with an insulative portion;

FIG. 5J is an illustration of a top cross-sectional view of an exampleembodiment of an arm assembly;

FIG. 5K is an illustration of a perspective view of an exampleembodiment of an arm assembly;

FIG. 5L is an illustration of a side view of an example embodiment of aninstrument arm assembly;

FIG. 5M is an illustration of a side cross-sectional view of an exampleembodiment of an instrument arm assembly;

FIG. 5N is an illustration of a top cross-sectional view of an exampleembodiment of a second arm assembly;

FIG. 5O is an illustration of a transparent perspective partial view ofan example embodiment of an instrument arm assembly;

FIG. 5P is another illustration of a side view of an example embodimentof an instrument arm assembly;

FIG. 5Q is another illustration of a side view of an example embodimentof an instrument arm assembly;

FIG. 5R is another illustration of a perspective view of an exampleembodiment of an instrument arm assembly;

FIG. 5S is another illustration of a side view of an example embodimentof an instrument arm assembly;

FIG. 5T is another illustration of a side cross-sectional view of anexample embodiment of an instrument arm assembly;

FIG. 5U is another illustration of a top cross-sectional view of anexample embodiment of a second arm assembly;

FIG. 5V is another illustration of a transparent perspective partialview of an example embodiment of an instrument arm assembly;

FIG. 6A is an illustration of a perspective view of an exampleembodiment of an image capturing assembly;

FIG. 6B is an illustration of a cross sectional view of another exampleembodiment of an image capturing assembly having an internal temperaturecontrol assembly;

FIG. 6C is an illustration of perspective views of another exampleembodiment of an image capturing assembly having internal temperaturecontrol assemblies;

FIG. 6D is an illustration of a perspective view of the system inoperation in a cavity of a patient, including a second image capturingassembly;

FIG. 7 is a flow diagram of an exemplary method for configuring asurgical device;

FIGS. 8A-E are illustrations of a side view of an example embodiment ofa method of configuring a surgical device in a forward-directedposition;

FIGS. 8F-K are illustrations of a side view of an example embodiment ofa method of configuring a surgical device in a reverse-directedposition;

FIG. 9A is an illustration of a perspective view of an exampleembodiment of a surgical device system;

FIG. 9B is an illustration of a perspective view of another exampleembodiment of a surgical device system;

FIG. 10A is an illustration of a perspective view of an exampleembodiment of an external anchor;

FIG. 10B is an illustration of a perspective view of another exampleembodiment of an external anchor;

FIG. 11A is an illustration of a perspective view of an exampleembodiment of an arm assembly;

FIG. 11B is an illustration of a cross-sectional side view of an exampleembodiment of an arm assembly;

FIG. 11C is an illustration of a cross-sectional side view of an exampleembodiment of an arm assembly;

FIG. 12A is an illustration of a perspective view of an exampleembodiment of an elbow coupling joint assembly;

FIG. 12B is an illustration of a side view of an example embodiment of adistal elbow planetary gear assembly;

FIG. 12C is an illustration of an exploded perspective view of anexample embodiment of a distal elbow planetary gear assembly;

FIG. 12D is an illustration of a perspective view of an exampleembodiment of an elbow coupling joint assembly;

FIG. 12E is an illustration of a side view of an example embodiment of aproximal elbow planetary gear assembly;

FIG. 12F is an illustration of an exploded perspective view of anexample embodiment of a proximal elbow planetary gear assembly;

FIG. 13A is an illustration of a perspective view of an exampleembodiment of a shoulder coupling joint assembly;

FIG. 13B is an illustration of a side view of an example embodiment of adistal shoulder planetary gear assembly;

FIG. 13C is an illustration of an exploded perspective view of anexample embodiment of a distal shoulder planetary gear assembly;

FIG. 13D is an illustration of a perspective view of an exampleembodiment of a shoulder coupling joint assembly;

FIG. 13E is an illustration of a side view of an example embodiment of aproximal shoulder planetary gear assembly;

FIG. 13F is an illustration of an exploded perspective view of anexample embodiment of a proximal shoulder planetary gear assembly;

FIG. 14A is an illustration of a side view of an example embodiment ofan elbow coupling joint assembly;

FIG. 14B is an illustration of a cross-sectional side view of an exampleembodiment of an elbow coupling joint assembly;

FIG. 14C is an illustration of is another side view of an exampleembodiment of an elbow coupling joint assembly;

FIG. 14D is an illustration of another cross-sectional side view of anexample embodiment of an elbow coupling joint assembly;

FIG. 15A is an illustration of a side view of an example embodiment of ashoulder coupling joint assembly;

FIG. 15B is an illustration of a cross-sectional side view of an exampleembodiment of a shoulder coupling joint assembly;

FIG. 15C is an illustration of is another side view of an exampleembodiment of a shoulder coupling joint assembly; and

FIG. 15D is an illustration of another cross-sectional side view of anexample embodiment of a shoulder coupling joint assembly.

Although similar reference numbers may be used to refer to similarelements in the figures for convenience, it can be appreciated that eachof the various example embodiments may be considered to be distinctvariations.

Example embodiments will now be described with reference to theaccompanying drawings, which form a part of the present disclosure, andwhich illustrate example embodiments which may be practiced. As used inthe present disclosure and the appended claims, the terms “exampleembodiment,” “exemplary embodiment,” and “present embodiment” do notnecessarily refer to a single embodiment, although they may, and variousexample embodiments may be readily combined and/or interchanged withoutdeparting from the scope or spirit of example embodiments. Furthermore,the terminology as used in the present disclosure and the appendedclaims is for the purpose of describing example embodiments only and isnot intended to be limitations. In this respect, as used in the presentdisclosure and the appended claims, the term “in” may include “in” and“on,” and the terms “a,” “an” and “the” may include singular and pluralreferences. Furthermore, as used in the present disclosure and theappended claims, the term “by” may also mean “from,” depending on thecontext. Furthermore, as used in the present disclosure and the appendedclaims, the term “if” may also mean “when” or “upon,” depending on thecontext. Furthermore, as used in the present disclosure and the appendedclaims, the words “and/or” may refer to and encompass any and allpossible combinations of one or more of the associated listed items.

DETAILED DESCRIPTION

It is recognized in the present disclosure that, despite recentdevelopments in medical science and technology, one or more problems areencountered in modern surgical technology and methodology, includingMIS. For example, a typical MIS procedure requires multiple incisions toa patient in order to allow access via the incisions for the insertionof a camera and various other laparoscopic instruments into the bodycavity of the patient.

In addition to the aforementioned disadvantages pertaining to themultiple and rather large incisions, it is recognized in the presentdisclosure that surgical robotic systems, including surgical roboticarms (and those instruments attached to them), developed for performingrobotic-assisted MIS surgical procedures also suffer from one or moreproblems. For example, it is recognized herein that a major technicalchallenge for a surgical robotic system is the difficulty in providingsufficient anchoring and/or reactive forces to stabilize against forcesthat are desired and/or necessary to be applied to the patient by thesurgical robotic system during a surgical action. In this regard,certain surgical actions for known surgical robotic systems may requiretremendous effort and time, and may not be performed properly or at allas a result of the problem of insufficient anchoring and/or reactiveforces.

Another example of a problem recognized in the present disclosure asbeing encountered by surgical robotic systems is the difficulty inproviding an instrument, such as a cutting and/or gripping instrumentattached to the end of a surgical robotic arm, with access to all oreven most parts, areas, and quadrants of an abdominal cavity of apatient after the surgical robotic system has been set up (or installed)and is ready to perform a surgery. That is, after the surgical roboticarm of the system has been inserted, attached, and properly set up inthe abdominal cavity of the patient and is ready to perform a surgicalaction, the instrument attached to the end of the surgical robotic armis typically limited to access only certain parts, areas, and quadrantsof the abdominal cavity of the patient. It is recognized in the presentdisclosure that such problems result in large from the limited number ofpossible degrees of freedom that can be provided by known surgicalrobotic systems and arms, and more specifically, the limited number ofin vivo degrees of freedom (i.e. the degrees of freedom provided withinan abdominal cavity of a patient) of known surgical robotic systems andarms. In this regard, surgical robotic systems typically provide onlybetween 2 to 4 in vivo degrees of freedom for each surgical robotic arm.

As another example, while known surgical robotic systems have beendesigned for use in an abdominal cavity of a patient to performforward-directed surgical procedures, such systems have not beendesigned for and may encounter problems when applied in situationsrequiring reverse-directed surgical procedures. For example, such knownsurgical robotic systems have not been designed for deployment through anatural orifice, such as a rectum or vagina, for performing naturalorifice transluminal endoscopic surgery (or NOTES), such astrans-vaginal gynecological procedures in women and trans-rectalurological procedures in men. Such systems may encounter one or moreproblems, such as the inability to access certain organs, tissues, orother surgical sites upon insertion into the natural orifice.

Surgical systems, devices, and methods, including those for use in MISand natural orifice transluminal endoscopic surgery (or NOTES), aredescribed in the present disclosure for addressing one or more problemsof known surgical systems, devices, and methods, including thosedescribed above and in the present disclosure. It is to be understoodthat the principles described in the present disclosure can be appliedoutside of the context of MIS and/or NOTES, such as performingscientific experiments and/or procedures in environments that are notreadily accessible by humans, including in a vacuum, in outer space,and/or under toxic and/or dangerous conditions, without departing fromthe teachings of the present disclosure.

The Surgical System (e.g., Surgical Device 200).

An illustration of an example embodiment of a surgical device or system(e.g., surgical device or system 200) operable to be inserted into anabdominal cavity of a patient through a single access or opening (e.g.,a single incision (such as an incision in or around the umbilical area)or through a natural orifice (such as a rectum or vagina, for performingnatural orifice transluminal endoscopic surgery (or NOTES), hereinafterreferred to as an “opening”) of the patient is depicted in FIG. 2A, FIG.2B, FIG. 2C, and FIG. 2D. The surgical device may then be anchored so asto position the surgical device 200 in the opening. The surgical device200 may comprise a port assembly 210 and an instrument arm assembly 230.The surgical device 200 may also comprise other elements, such as one ormore other instrument arm assemblies (e.g., instrument arm assembly240), one or more image capturing assemblies, one or more assistant armassemblies, etc.

As illustrated in FIG. 1A and FIG. 1B, the surgical device 200 may beprovided with an external anchor 1 attachable to the port assembly 210.The external anchor 1 may comprise a configurable assembly of segments2, 6, 10, and 14 in communication with one another via joints orconnecting portions 4, 8, and 12, and external anchor connector 16. Theexternal anchor 1 may be operable to securely fix the position and/ororientation (hereinafter “position”) of the port assembly 210 in orabout the single opening of the patient, and may also be operable toprovide sufficient anchoring and/or reactive forces to stabilize againstforces desired and/or necessary to be applied by at least one or moreelements of the surgical device 200, including the instrument armassembly 230, during a surgical action or procedure. The external anchor1, which may also be in the form of the controllable swivel assembly1000 illustrated in FIG. 10A and FIG. 10B, may be operable to cooperatewith the port assembly 210 to provide one or more in vitro degrees offreedom. For example, the external anchor 1 may be configurable toprovide 3 in vitro degrees of freedom. In example embodiments, the oneor more in vitro degrees of freedom may include a torsional movement,pivotal movement, telescopic movement, and/or other movements of theport assembly 210 relative to the external anchor 1. For example, atorsional movement of the port assembly 210, as illustrated by arrow Ain FIG. 1B, may allow one or more attached instruments, including aninstrument arm assembly 230, to re-position during a surgical procedure(i.e. after set up or installation) so as to access other parts, areas,and/or all quadrants of the abdominal cavity of the patient. As anotherexample, a pivotal movement of the port assembly 210, as illustrated byarrow B in FIG. 1B, may allow the port assembly 210 to be positioned inone of a plurality of angles with respect to opening of the patient, andmay also allow attached instruments, including the instrument armassembly 230, to re-position during a surgical procedure (i.e. after setup or installation) so as to access distal areas of the abdominal cavityof the patient. The other joint portions of the external anchor 1 mayalso be operable to cooperate and/or assist in desired movements of theport assembly 210. The external anchor 1 may be anchored to one or morestationary or fixedly positioned objects, such as a side rail 300 of asurgical table/bed illustrated in FIG. 1A. FIGS. 10A and 10B illustrateother example movements that provide for additional in vitro degrees offreedom via an example embodiment of the external anchor (controllableswivel assembly) 1000. The controllable swivel assembly 1000 will befurther described below in at least the section “(1) Providing theexternal anchor and installing the port assembly.”

The surgical device 200 may further comprise one or more additionalinstrument arm assemblies, such as a second instrument arm assembly 240illustrated in FIG. 3A, FIG. 3B, FIG. 3C, and FIG. 3D, attachable to theport assembly 210. One or more of the instrument arm assemblies,including the first instrument arm assembly 230, the second instrumentarm assembly 240, a third instrument arm assembly (not shown), a fourthinstrument arm assembly (not shown), etc., may be attachable orsecurable to the port assembly 210. Such instrument arm assemblies maybe operable to access and perform one or more surgical actions in/on anyand all parts, areas, and/or quadrants within a cavity of the patient.For example, surgical device 200 may be configurable to perform surgicalactions in a forward direction (or “forward-directed position” or“forward position”) (e.g., as illustrated in FIGS. 2B, 2D, 3B, and 3D).As another example, surgical device 200 may be configurable to performsurgical actions in a reverse direction (or “reverse-directed position”or “reverse position”) (e.g., as illustrated in FIGS. 2A, 2C, 3A, and3C).

The surgical device 200 may also comprise one or more image capturingassemblies, such as image capturing assembly 220. The surgical device200 may further comprise one or more assistant arm assemblies, such as aretractor arm assembly 260, as illustrated in FIGS. 2A, 2B, 3A, and 3B.Furthermore, the surgical device 200 may comprise one or more otherinstrument arm assemblies, such as suction/irrigation assembly 250,illustrated in FIGS. 2A, 2B, 3A, and 3B, that can be inserted into theopening of the patient via the port assembly 210 before, during, and/orafter performing a surgical action or procedure. It is to be understoodin the present disclosure that the surgical device 200 may beconfigurable in a plurality of configurations and arrangements,including having more or less than two instrument arm assemblies (suchas third, fourth, fifth, etc. instrument arm assemblies), more than oneimage capturing assembly (such as second, third, etc. image capturingassemblies), more or less than one assistant arm assembly (such assecond, third, etc. assistant arm assemblies), and/or more or less thanone other laparoscopic tool in example embodiments without departingfrom the teachings of the present disclosure.

The Port Assembly (e.g., Port Assembly 210).

An example embodiment of the port assembly (e.g., port assembly 210) isillustrated in FIGS. 2A-D, 3A-D, FIG. 4A, FIG. 4B, FIG. 4C, and FIG. 4D.The port assembly 210 may be configurable to be inserted in or about asingle opening of the patient (such as a single incision or a naturalorifice) and fixed in position by at least the external anchor (such asthe external anchor 1 illustrated in FIGS. 1A and 1B and thecontrollable swivel assembly 1000 illustrated in FIGS. 10A and 10B).

The port assembly 210 may be an elongated structure having a centralaccess channel 210 a formed through the port assembly 210. The centralaccess channel 210 a may be for use in inserting and removinginstruments, such as one or more instrument arm assemblies 230, 240, oneor more image capturing assemblies 220, one or more assistant armassemblies 250, 260, etc. In an example embodiment, the port assembly210 may include a first end section 212 and a second end section 214.The first end section 212 and second end section 214 may be fixablyattachable to one another or formed as a unitary article. The portassembly 210 may also include a mid section 213 between the first endsection 212 and the second end section 214. The first end section 212,second end section 214, and mid section 213 may be fixably attachable toone another, as illustrated in FIGS. 4A and 4B, or two or more of thesesections may be formed as a unitary article. In an example embodiment,the first end section 212 may be the portion of the port assembly 210that is secured to the external anchor 1, and the port assembly 210 maybe fixed in position at an angle θ relative to the single opening of thepatient of between about 0 to +/−90 degrees. These and other elements ofthe port assembly 210 will now be described below and with reference toFIGS. 2A-D, 3A-D, and 4A-D.

As illustrated in at least FIGS. 4A and 4B, the port assembly 210 maycomprise a first end section 212. The first end section 212 may have afirst end channel 212 a formed through the first end section 212. Thefirst end channel 212 a may be considered as a part of the centralaccess channel 210 a. The first end section 212 may also include aportion operable to be secured to the external anchor 1, such as aportion on an exterior portion of the first end section 212.

The first end section 212 may also include a first gate assembly 212 b,as illustrated in FIGS. 4A, 4C, and 4D. The first gate assembly 212 maybe configurable to control access through the first end channel 212 a.For example, the first gate assembly 212 b may be configurable to be inan open position, as illustrated in FIG. 4C, so as to allow accessthrough the first end channel 212 a. The first gate assembly 212 b mayalso be configurable to be in a closed position, as illustrated in FIG.4D, so as to prevent or restrict access through the first end channel212 a. The first gate assembly 212 b may also be configurable to be in apartially closed (or partially opened) position (not shown). The firstgate assembly 212 b may also be configurable to transition between theclosed position and the open position.

In an example embodiment, the first gate assembly 212 b may be providedwithin the first end section 212 in such a way that, when the first gateassembly 212 b is configured to be in the open position, as illustratedin FIG. 4C, the first end channel 212 a is substantially or completelyunobstructed by the first gate assembly 212 b. The first gate assembly212 b may be configured to be in the open position when a surgeondesires to insert (or remove) an instrument into (or out of) the cavityof the patient via the first end channel 212 a (and the rest of thecentral access channel 210 a).

Similarly, the first gate assembly 212 b may be provided within thefirst end section 212 in such a way that, when the first gate assembly212 b is configured to be in the closed position, as illustrated in FIG.4D, the first end channel 212 a is substantially or completelyobstructed by the first gate assembly 212 b. The first gate assembly 212b may be configured to be in the closed position when a surgeon desiresto maintain an insufflation of the cavity of the patient and/or when thesurgeon does not need to insert (or remove) an instrument into (or outof) the cavity of the patient via the first end channel 212 a.

The first gate assembly 212 b may include a first expandable portion 212b configurable to expand when the first gate assembly 212 b isconfigured to the closed position, as illustrated in FIG. 4D. When thefirst gate assembly 212 b is configured to the closed position, thefirst expandable portion 212 b may be operable to substantially orcompletely block, among other things, a gas medium (and/or other medium)from passing through the first end channel 212 a. For example, if thecavity of the patient is being insufflated using a gas, such as carbondioxide (CO₂), the first gate assembly 212 b (i.e., the first expandableportion 212 b) may be configurable to substantially prevent the carbondioxide gas from leaving the cavity of the patient through the first endchannel 212 a.

The first expandable portion 212 b may include one or more firstexpandable members. For example, the first expandable portion 212 b mayinclude six expandable members, as illustrated in FIGS. 4C and 4D. It isto be understood that the first expandable portion 212 b may includemore or less than six expandable members without departing from theteachings of the present disclosure. Some or all of the first expandablemembers may be integrated together and/or in communication with oneanother, such as in a manner where some or all of the first expandablemembers are operable to receive pressure (i.e., gas medium) from acommon or same first source 212 b′. For example, when the first gateassembly 212 b is configured to the closed position, the first source212 b′ may be configurable to provide a positive pressure (i.e., asupply of gas) so as to cause some or all of the first expandablemembers to expand and block the first end channel 212 a (e.g.,hermetically block the first end channel 212 a). Similarly, when thefirst gate assembly 212 b is configured to the open position, the firstsource 212 b′ may be configurable to provide a negative pressure (i.e.,remove gas) so as to cause one or more (or all) of the first expandablemembers to not expand (and/or contract) and unblock the first endchannel 212 a. It is to be understood that more than one first sources212 b′ may provide the positive pressure and negative pressure to theone or more expandable members without departing from the teachings ofthe present disclosure.

It is recognized in the present disclosure that the first gate assembly212 b may also include a valve (not shown), or the like, in addition toor in replacement of the first expandable portion 212 b. The valve maybe configurable to perform substantially the same actions of blockingthe first end channel 212 a when the first gate assembly 212 b isconfigured to the closed position and unblocking the first end channel212 a when the first gate assembly 212 b is configured to the openposition. The valve may be any type of valve configurable to perform theactions described above and in the present disclosure. The valve mayinclude, but is not limited to including, a ball valve, gate valve,etc., so long as the valve is configurable to substantiallyblock/unblock the first end channel 212 a and prevent a gas medium frompassing through the first end channel 212 a.

The port assembly 210 may also include the second end section 214, asillustrated in at least FIGS. 4A and 4B. The second end section 214 mayhave a second end channel 214 a formed through the second end section214. The second end channel 214 a may be substantially or completelyaligned with the first end channel 212 a. The second end channel 214 a,as well as the first end channel 212 a, may be considered as a part ofthe central access channel 210 a in example embodiments. The second endsection 214 may also include an insufflation port (not shown) for use inproviding insufflation to the cavity of the patient.

The second end section 214 may also include a second gate assembly 214,as illustrated in FIGS. 4A, 4C, and 4D. The second gate assembly 214 maybe configurable to control access through the second end channel 214 a.For example, the second gate assembly 214 b may be configurable to be inan open position, as illustrated in FIG. 4C, so as to allow accessthrough the second end channel 214 a. The second gate assembly 214 b mayalso be configurable to be in a closed position, as illustrated in FIG.4D, so as to prevent or restrict access through the second end channel214 a. The second gate assembly 214 b may also be configurable to be ina partially closed (or partially opened) position (not shown). Thesecond gate assembly 214 b may also be configurable to transitionbetween the closed position and the open position.

In an example embodiment, the second gate assembly 214 b may be providedwithin the second end section 212 in such a way that, when the secondgate assembly 214 b is configured to be in the open position, asillustrated in FIG. 4C, the second end channel 214 a is substantially orcompletely unobstructed by the second gate assembly 214 b. The secondgate assembly 214 b may be configured to be in the open position when asurgeon desires to insert (or remove) an instrument into (or out of) thecavity of the patient via the second end channel 214 a (and the rest ofthe central access channel 210 a).

Similarly, the second gate assembly 214 b may be provided within thesecond end section 214 in such a way that, when the second gate assembly214 b is configured to be in the closed position, as illustrated in FIG.4D, the second end channel 214 a is substantially or completelyobstructed by the second gate assembly 214 b. The second gate assembly214 b may be configured to be in the closed position when a surgeondesires to maintain an insufflation of the cavity of the patient and/orwhen the surgeon does not need to insert (or remove) an instrument into(or out of) the cavity of the patient via the second end channel 214 a.

The second gate assembly 214 b may include a second expandable portion214 b configurable to expand when the second gate assembly 214 b isconfigured to the closed position, as illustrated in FIG. 4D. When thesecond gate assembly 214 b is configured to the closed position, thesecond expandable portion 214 b may be operable to substantially orcompletely block, among other things, a gas medium (and/or other medium)from passing through the second end channel 214 a. For example, if thecavity of the patient is being insufflated using a gas, such as carbondioxide (CO₂), the second gate assembly 214 b (i.e., the secondexpandable portion 214 b) may be configurable to substantially preventthe carbon dioxide gas from leaving the cavity of the patient throughthe second end channel 214 a.

The second expandable portion 214 b may include one or more secondexpandable members. For example, the second expandable portion mayinclude six expandable members, as illustrated in FIGS. 4C and 4D. It isto be understood that the second expandable portion 214 b may includemore or less than six expandable members without departing from theteachings of the present disclosure. Some or all of the secondexpandable members may be integrated together and/or in communicationwith one another, such as in a manner where some or all of the secondexpandable members are operable to receive pressure (i.e., gas medium)from a common or same second source 214 b′. For example, when the secondgate assembly 214 b is configured to the closed position, the secondsource 214 b′ may be configurable to provide a positive pressure (i.e.,a supply of gas) so as to cause some or all of the second expandablemembers to expand and block the second end channel 214 a (e.g.,hermetically block the second end channel 214 a). Similarly, when thesecond gate assembly 214 b is configured to the open position, thesecond source 214 b′ may be configurable to provide a negative pressure(i.e., remove gas) so as to cause some or all of the second expandablemembers to not expand (and/or contract) and unblock the second endchannel 214 a. It is to be understood that more than one second sources214 b′ may provide the positive pressure and negative pressure to theone or more expandable members without departing from the teachings ofthe present disclosure. It is also to be understood in the presentdisclosure that one or more of the first sources 212 b′ and one or moreof the second sources 214 b′ may be the same or different sources.

It is recognized in the present disclosure that the second gate assembly214 b may also include a valve (not shown), or the like, in addition toor in replacement of the second expandable portion 214 b. The valve maybe configurable to perform substantially the same actions of blockingthe second end channel 214 a when the second gate assembly 214 b isconfigured to the closed position and unblocking the second end channel214 a when the second gate assembly 214 b is configured to the openposition. The valve may be any type of valve configurable to perform theactions described above and in the present disclosure. The valve mayinclude, but is not limited to including, a ball valve, gate valve,etc., so long as the valve is configurable to substantiallyblock/unblock the second end channel 214 a and prevent a gas medium frompassing through the second end channel 214 a.

The second end section 214 may also include one or more anchor ports216, as illustrated in FIGS. 4A and 4B. Each of the anchor ports 216 maybe operable to enable an instrument arm assembly 230 or 240, imagecapturing assembly 220, and/or assistant arm assemblies 250 or 260 to besecured to and unsecured from the port assembly 210. Each of the anchorports 216 may be formed in any one or more of a plurality of shapes,holes, slots, indentations, protrusions, hooks, fasteners, magnets,buckles, or the like, including those described above and in the presentdisclosure. For example, as illustrated in FIGS. 4A and 4B, one or moreof the anchor ports 216 may include one or more slots, or the like,operable to allow a shoulder section 231 of an instrument arm assembly230 or 240 to be inserted into and attached.

In example embodiments, the port assembly 210 may also include the midsection 213, as illustrated in at least FIGS. 4A and 4B. The mid section213 may have a mid section channel 213 a formed through the mid section213. The mid section channel 213 a may be substantially or completelyaligned with the first end channel 212 a and/or the second end channel214 a. In this regard, the mid section channel 213 a, as well as thefirst end channel 212 a and/or the second end channel 214 a, may beconsidered as a part of the central access channel 210 a in exampleembodiments. The mid section 213 may also include an insufflation port(not shown) in addition to or in replacement of the insufflation port(not shown) of the second end section 214. In some example embodiments,the mid section 213 may also include a mid section gate assembly (notshown) similar to that of the first gate assembly 212 and second gateassembly 214 described above and in the present disclosure.

In example embodiments, the mid section channel 213 a may be operable tocooperate with the first gate assembly 212 b and the second gateassembly 214 b to function as or like an isolation chamber forinstruments, such as the instrument arm assembly 230 or 240, imagecapturing assembly 220, assistant arm assembly 250 or 260, etc. Forexample, when an instrument, such as the instrument arm assembly 230,needs to be inserted into the cavity of the patient via the portassembly 210 (or central access channel 210 a) and an insufflation ofthe cavity of the patient needs to be maintained, the first gateassembly 212 b may be configured to the open position to allow theinstrument to be inserted into the mid section channel 213 a. After theinstrument (or most of it) passes through the first gate assembly 212 b,the first gate assembly 212 b may be configured to the closed position.The second gate assembly 214 b may then be configured to the openposition to allow the instrument to be further inserted through the portassembly 210. After the instrument (or most of it) passes through thesecond gate assembly 214 b, the second gate assembly 214 b may beconfigured to the closed position.

In respect to the central access channel 210 a, the central accesschannel 210 a may include or be formed by the first end channel 212 a,the second end channel 214 a, and/or the mid section channel 213 a. Thecentral access channel 210 a may be operable to provide an access port(i.e. a passageway or channel) to allow an insertion (or removal) of oneor more instruments, such as one or more instrument arm assemblies 230or 240, one or more image capturing assemblies 220, one or moreassistant arm assemblies 250 or 260, etc.

In an example embodiment, the first end section 212, the second end 214,and/or the mid section 213 may be substantially cylindrical in shape.The first end section 212, the second end section 214, and/or the midsection 213 may also be formed in any one of a plurality of othershapes, sizes, and/or dimensions without departing from the teachings ofthe present disclosure.

In example embodiments, an outer diameter of the first end section 212,the second end 214, and/or the mid section 213 may be between about 28to 35 mm and an inner diameter (unblocked) of the first end section 212,the second end 214, and/or the mid section 213 may be between about 16to 21 mm. In an example embodiment, the outer diameter of the first endsection 212, the second end 214, and/or the mid section 213 may be about33 mm and the inner diameter (unblocked) of the first end section 212,the second end 214, and/or the mid section 213 may be about 19 mm. Thelength of the first end section 212 may be between about 80 to 100 mm,the length of the second end section 214 may be between about 80 to 200mm, and the length of the mid section 213 may be between about 60 to 80mm. The overall length of the port assembly 210 may be between about 320to 380 mm. It is to be understood in the present disclosure that theabove dimensions are merely an illustration of example embodiments, andas such the dimensions may be smaller or larger than those recited abovewithout departing from the teachings of the present disclosure.

The port assembly 210, including the first end section 212, the secondend section 214, the mid section 213, and/or the anchor ports 216, maybe formed using any one or more of a plurality of materials, such assurgical-grade metals, high-strength aluminum alloys, stainless steel(such as 304/304L, 316/316L, and 420), pure titanium, titanium alloys(such as Ti6A14V, NiTi), and cobalt-chromium alloys. The first gateassembly 212 b and the second gate assembly 214 b may be formed usingany one or more of a plurality of materials, such as bio-compatiblematerials (such as silicone rubber and polyurethane). It is to beunderstood in the present disclosure that other materials may also beused without departing from the teachings of the present disclosure. Itis to be understood in the present disclosure that the above materialsare merely an illustration of example embodiments, and these and othermaterials and compositions may be used without departing from theteachings of the present disclosure.

The Image Capturing Assembly (e.g., Image Capturing Assembly 220).

In an example embodiment, the surgical device 200 may comprise one ormore image capturing assemblies (e.g., image capturing assembly 220)configurable to be inserted into and attach to the port assembly 210.One or more of the image capturing assemblies 220 may comprise at animage capturing body 224, a multi-curvable body 222, and an anchoringportion 220 a.

As illustrated in FIG. 6A, the image capturing body 224 may include oneor more cameras 227. Each camera 227 may include a standard and/or highdefinition 2-dimensional (2D) and/or 3-dimensional (3D) camera operableto capture imaging, such as 2D and/or stereoscopic and/orautostereoscopic 3D imaging, including images, video, and/or audio, andprovide in real-time via wired and/or wireless communication thecaptured imaging, including images, video, and/or audio, to thecomputing device (or controller or system) of one or more nearby and/orremotely located surgical teams 904, as described above and in thepresent disclosure. The computing device (or controller or system) maycomprise one or more processors, one or more computer-human interfaces,one or more graphical displays (such as computer screens, televisionscreens, portable devices, wearable devices such as glasses, etc.),and/or other devices and/or systems, an example of which is illustratedin FIGS. 9A and 9B. The one or more nearby and/or remotely locatedsurgical teams 904 may be operable to view, hear, sense, analyze, andcontrol (such as pan, zoom, process, adapt, mark, change resolution,etc.) the imaging displayed or represented on one or more standardand/or high definition 2D and/or 3D graphical displays 902, such asshown in the illustration of FIGS. 9A and 9B, and/or portable and/orwearable devices adapted to receive 2D and/or 3D imaging (not shown).The image capturing body 224 may also comprise one or more illuminationsources 229, such as an LED, or the like, operable to illuminate orsense at least one or more parts, sections, and/or quadrants of thecavity of the patient, including instruments provided in the cavity ofthe patient. The image capturing body 224 may further comprise one ormore internal temperature control assemblies operable to control (suchas reduce) the temperature of one or more components of the imagecapturing body 224.

As illustrated in the example embodiment of FIG. 6A, one or more of theimage capturing assemblies 220 may comprise a multi-curvable body 222attached to the image capturing body 224. The multi-curvable body 222may be any elongated multi-curvable, multi-bendable, multi-articulable,and/or snake-like (hereinafter “multi-curvable”) body that can becontrolled/configured by the surgical team (such as via the computingdevice/controller) to, among other things, straighten and/or curve (andhold such a straightness and/or curvature) at one or more of a pluralityof locations along the multi-curvable body 222, curve (and hold such acurvature) in one or more of a plurality of curvatures, and/orstraighten and/or curve (and hold such a straightness and/or curvature)in one or more of a plurality of directions. For example, as illustratedin FIG. 8H, the multi-curvable body 222 may be controllable/configurableby the surgical team (such as via the computing device/controller) tocurve at two different locations 222 a and 222 b along themulti-curvable body 222, and each of the curves may include anycurvature and in any direction. It is to be understood that themulti-curvable body 222 may be configurable to curve in more or lessthan two locations along the multi-curvable body 222 without departingfrom the teachings of the present disclosure. It is also to beunderstood that, when the multi-curvable body 222 is configured to curveat any location along the multi-curvable body 222, the curve may be heldand/or released (or configured to uncurve, curve less, or straighten) bythe surgical team (such as via the computing device/controller).

The multi-curvable body 222 may be formed in any one or more ways knownin the art including. For example, the multi-curvable body 222 mayinclude a plurality of segments, each segment linked to an adjacentsegment in such a way that the segment may be controlled/configured tobe pivotally positioned in a plurality of positions relative to theadjacent segment. As another example, the multi-curvable body 222 mayinclude a plurality of wires, cables, or the like, distributedthroughout the multi-curvable body 222 in such a way that apulling/releasing, shortening/lengthening, tightening/loosening, etc. ofone or a combination of cables enables the above-mentioned curving ofone or more locations of the multi-curvable body 222 in one or morecurvatures and in one or more directions. As another example, themulti-curvable body 222 may include a plurality of springs, gears,motors, etc. for achieving the above-mentioned curving. It is to beunderstood in the present disclosure that the multi-curvable body 222may also include a combination of one or more of the above-mentionedapproaches.

One or more internal temperature control assemblies (not shown) may beprovided for each image capturing assembly 220. Each internaltemperature control assembly may be operable to control (such as reduce)the temperature and/or heat emission of the aforementioned camera(s)227, illumination source(s) 229, and/or multi-curvable body 222. In anexample embodiment, the one or more internal temperature controlassemblies may be operable to perform such temperature control using oneor more gases, liquids, and/or solids. For example, the gases and/orliquids may be fed, maintained, and/or regulated using an externalsource via one or more tubes, or the like. The one or more tubes used toprovide, regulate, and/or discharge the gases and/or liquids may have adiameter between about 0.5 mm to 3 mm in example embodiments, but thedimensions of such tubes may also be more or less. It is to beunderstood in the present disclosure that the one or more tubes (ifused), as well as any solids (if used), may be provided through aninterior of the image capturing assembly 220 without increasingdimensions (such as diameter) of the image capturing assembly 220 and/oraffecting the controllability/configurability of the multi-curvable body222.

When the internal temperature control assembly utilizes gases, or thelike, example embodiments may also be operable to provide such gasesinto the body cavity and/or discharge or recycle such gases outside ofthe body cavity via one or more tubes, or the like. The gases maycomprise carbon dioxide, oxygen, and/or other gases in exampleembodiments. Such gases may be further operable to assist in providingand/or maintaining insufflation of the cavity of the patient during asurgical procedure. When the internal temperature control assemblyutilizes liquids, or the like, example embodiments may be operable todischarge or recycle such liquids outside of the body cavity. When theinternal temperature control assembly utilizes solids, or the like, suchsolids may possess properties that enable the surgical team to changethe temperature of the solids, such as by applying electricity or otherform of energy, so as to control (such as reduce) the temperature and/orheat emission of one or more components of the image capturing assembly220. In example embodiments, the internal temperature control assemblymay utilize a combination of gases, liquids, solids, and/or the likewithout departing from the teachings of the present disclosure.

The image capturing assembly 220 may be secured to the port assembly 210in one or more of a plurality of ways, including those described aboveand in the present disclosure for the instrument arm assemblies 230 or240 and/or the assistant arm assemblies 250 or 260. For example, theimage capturing assembly 220 may also comprise an anchoring portion 220a (e.g., similar to the securing portion 231 a of the instrument armassembly 220) operable to attach (or secure) the image capturingassembly 220 to one or more anchor ports 216 of the port assembly 210.

In an example embodiment, the image capturing body 224 and themulti-curvable body 222 may each be substantially cylindrical in shape.The image capturing body 224 and the multi-curvable body 222 may also beformed in any one of a plurality of other shapes, sizes, and/ordimensions without departing from the teachings of the presentdisclosure.

In an example embodiment, the length of the multi-curvable body 222 maybe between about 50 to 150 mm. In example embodiments, a length ofmulti-curvable body 222 may also be adjustable by the surgical team 904before, during, and/or after insertion of the camera arm assembly intothe cavity of the patient. The outer diameter of the multi-curvable body222 may be between about 5 to 7 mm. It is to be understood in thepresent disclosure that the above dimensions are merely an illustrationof example embodiments, and as such the dimensions may be smaller orlarger than those recited above without departing from the teachings ofthe present disclosure.

The multi-curvable body 222 may be formed using any one or more of aplurality of materials, such as stainless steel, etc. It is to beunderstood in the present disclosure that other materials may also beused without departing from the teachings of the present disclosure. Itis to be understood in the present disclosure that the above materialsare merely an illustration of example embodiments, and these and othermaterials and compositions may be used without departing from theteachings of the present disclosure.

As illustrated in FIG. 6B and FIG. 6C, the image capturing assembly 220may further comprise a gas shield 228 located nearby one or more lensesof the camera 227. The image capturing assembly 220 may further comprisea gas shield 228 located nearby one or more of the illumination sources229 and/or any other sensors (such as temperature sensors, pressuresensors, humidity sensors, etc.) provided by the image capturingassembly 220. The gas shield 228 may comprise one or more openings orthe like, one or more external gas sources 228, and one or more tubes,channels, or the like, between the one or more external gas sources andthe one or more openings of the gas shield 228. In operation, the gasshield 228 may be operable to provide pressurized gases (and/orliquids), such as carbon dioxide, oxygen, other gases or liquids, orcombinations thereof, via the one or more openings of the gas shield 228to an area in front of the camera 227 (as well as in front of theillumination sources 229 and/or other sensors).

The overall system may also include one or more separate image capturingassemblies, such as the separate image capturing assembly 320illustrated in FIG. 6D. The separate image capturing assembly 320 may bemagnetically anchored by a magnetic anchor 310 to an internal wall ofthe cavity of the patient, such as via a permanent magnet,electromagnet, or the like. In some example embodiments, the magneticanchor 310 may also be secured/held in position via an external anchor(not shown). The separate image capturing assembly 320 may include oneor more cameras 327, and may also include one or more illuminationsources 329.

The separate image capturing assembly 320 may be operable to provide oneor more of a variety of views, including, but not limited to, a normalview, zoomed view, wide-angled view, and/or panoramic view of the cavityof the patient. The separate image capturing assembly 320 may bepositioned in such a way as to provide the surgical team 904 with anunobstructed view of areas of interest within the cavity of the patient.In respect to positioning and securing the separate image capturingassembly 320 in place, as illustrated in FIG. 6D, the separate imagecapturing assembly 320 may be inserted through the central accesschannel 210 a of the port assembly 210 and to the desired location ofthe interior wall of the cavity of the patient in one or more of aplurality of ways, including using a surgical tool (not shown),attaching the separate image capturing assembly 320 to a multi-curvablebody (not shown) similar to that of the image capturing assembly 220 (asillustrated in FIGS. 2A, 2B, 3A, 3B, and 6D), etc.

The Instrument Arm Assembly (e.g., Instrument Arm Assembly 230, 240).

In an example embodiment, the surgical device 200 may comprise one ormore instrument arm assemblies (e.g., first instrument arm assembly 230,second instrument arm assembly 240, third instrument arm assembly (notshown), fourth instrument arm assembly (not shown), etc.), eachconfigurable to attach to the port assembly 210. Although certainfigures and/or descriptions provided in the present disclosure may bedirected to the first instrument arm assembly 230 and its elements, itis to be understood in the present disclosure that such figures and/ordescriptions may also apply to other instrument arm assemblies,including second instrument arm assembly 240, third instrument armassembly (not shown), fourth instrument arm assembly (not shown), etc.

One or more of the instrument arm assemblies (such as 230, 240) maycomprise a configurable or configured serially (or linearly) connectedarrangement of a plurality of instrument arm segments (or armassemblies, such as a first arm assembly 330, second arm assembly 360,and shoulder section (e.g., shoulder assembly 231) illustrated in atleast FIG. 5C and FIG. 5R) and a plurality of joint portions (such as anelbow joint assembly 234, and shoulder joint assembly 232 illustrated inat least FIG. 5L, FIG. 5M, FIG. 5S, and FIG. 5T), and an end effectorassembly 340 (having at least a wrist assembly and an instrumentassembly 237, which includes instrument(s) 239 having instrument 342and/or instrument 344) integrated into and/or connected to one or moreof the instrument arm segments and/or joint portions. Although certainfigures and description in the present disclosure may be directed to aninstrument arm assembly 230, 240 having a serially connected arrangementof an end effector assembly 340 at a distal end, followed by a first armassembly 330, followed by an elbow joint assembly 234 (having an elbowpitch joint portion 350′ followed by an elbow sway joint portion 350),followed by a second arm assembly 360, followed by a shoulder jointassembly 232 (having a shoulder pitch joint portion 370 followed by ashoulder sway joint portion 380), and followed by a shoulder section 231at a proximal end, it is to be understood in the present disclosure thatthe serially connected arrangement for the instrument arm assembly 230,240 may also be in other sequences and include (or not include) otherelements. For example, the serially connected arrangement may include anend-effector assembly 340 at a distal end, followed by a first armassembly 330, followed by an elbow pitch joint portion 350′, followed byan elbow sway joint portion 350, followed by a second arm assembly 360,followed by a shoulder pitch joint portion 370, followed by a shouldersway joint portion 380, and followed by a shoulder section 231 at aproximal end. As another example, the serially connected arrangement mayinclude an end-effector assembly 340 at a distal end, followed by afirst arm assembly 330, followed by an elbow sway joint portion 350,followed by an elbow pitch joint portion 350′, followed by a second armassembly 360, followed by a shoulder sway joint portion 380, followed bya shoulder pitch joint portion 370, and followed by a shoulder section231 at a proximal end. In yet another example, the serially connectedarrangement may include an end-effector assembly 340 at a distal end,followed by a first arm assembly 330, followed by an elbow pitch jointportion 350′, followed by an elbow sway joint portion 350, followed by asecond arm assembly 360, followed by a shoulder sway joint portion 380,followed by a shoulder pitch joint portion 370, and followed by ashoulder section 231 at a proximal end. As another example, the seriallyconnected arrangement may include an end-effector assembly 340 at adistal end, followed by a first arm assembly 330, followed by an elbowpitch joint portion 350′, followed by an elbow sway joint portion 350,followed by a second arm assembly 360, followed by a shoulder pitchjoint portion 370, and followed by a shoulder section 231 at a proximalend. As another example, the serially connected arrangement may includean end-effector assembly 340 at a distal end, followed by a first armassembly 330, followed by an elbow pitch joint portion 350′, followed byan elbow sway joint portion 350, followed by a second arm assembly 360,followed by a shoulder sway joint portion 380, and followed by ashoulder section 231 at a proximal end. As another example, the seriallyconnected arrangement may include an end-effector assembly 340 at adistal end, followed by a first arm assembly 330, followed by an elbowsway joint portion 350, followed by an elbow pitch joint portion 350′,followed by a second arm assembly 360, followed by a shoulder pitchjoint portion 370, and followed by a shoulder section 231 at a proximalend. As another example, the serially connected arrangement may includean end-effector assembly 340 at a distal end, followed by a first armassembly 330, followed by an elbow sway joint portion 350, followed byan elbow pitch joint portion 350′, followed by a second arm assembly360, followed by a shoulder sway joint portion 380, and followed by ashoulder section 231 at a proximal end. In yet another example, theserially connected arrangement may include an end-effector assembly 340at a distal end, followed by a first arm assembly 330, followed by anelbow sway joint portion 350, followed by a second arm assembly 360,followed by a shoulder pitch joint portion 370, followed by a shouldersway joint portion 380, and followed by a shoulder section 231 at aproximal end. As another example, the serially connected arrangement mayinclude an end-effector assembly 340 at a distal end, followed by afirst arm assembly 330, followed by an elbow sway joint portion 350,followed by a second arm assembly 360, followed by a shoulder sway jointportion 380, followed by a shoulder pitch joint portion 370, andfollowed by a shoulder section 231 at a proximal end. Other seriallyconnected arrangements with more or less elements are also contemplatedwithout departing from the teachings of the present disclosure.

The end effector or instrument 239, 342, 344 may be any instrumentsuitable for use in surgical procedures, such as a cutting and/orgripping instrument. One or more of the instrument arm assemblies (suchas 230, 240) may also comprise one or more illumination sources (notshown), such as an LED, or the like, operable to illuminate one or moreparts of the end effector or instrument 239, 342, 344, instrument armassemblies, and/or parts, sections, and/or quadrants of the abdominalcavity of the patient.

One or more of the instrument arm assemblies (such as 230, 240) may alsocomprise one or more integrated motors (e.g., integrated motors 332,334, 336, and/or 339 illustrated in at least FIG. 5E, FIG. 5G, FIG. 5J,and FIG. 5K and integrated motors 362, 364, 366, and/or 369 illustratedin at least Figure M, FIG. 5N, FIG. 5O, FIG. 5T, FIG. 5U, and FIG. 5V),each integrated motor operable to provide at least one degree of freedomfor the instrument arm assembly. Each integrated motor (e.g., integratedmotors 332, 334, 336, 339, 362, 364, 366, and/or 369) may be fully andindependently functioning motors that are housed entirely (with theexception of, for example, power and/or control cables, which may be fedvia the port assembly) in an instrument arm segment (or arm assembly,such as the first arm assembly 330, second arm assembly 360, and/orshoulder assembly 231), such as in housing 331 and/or 360′. One or moreof the instrument arm assemblies may also include an integrated hapticand/or force feedback subsystem (not shown) in communication with one ormore of the integrated motors and/or other sensors and/or instrumentsoperable to provide to the surgical team (such as via computingdevice/controller) with one or more of a plurality of feedback responsesand/or measurements, including those pertaining to position (includingorientation), applied force, proximity, temperature, pressure, humidity,etc., of, by, and/or nearby to the instrument arm assembly. For example,the surgical team 904 may be provided with a master input device havingmanipulators, or the like, having haptic and/or force feedback anddesigned to map and sense the surgical team's 904 delicatefinger-twisting, wrist-bending, and/or other arm/shoulder movements intomovements of the instrument arm (such as 230, 240) with high precision,high dexterity, and minimum burden, while also providing feedback ofcontact resistance (such as tissue resistance).

When an instrument arm assembly (such as 230, 240) comprises one or moreillumination sources, cameras, haptic and/or force feedback instruments,and/or other sensors and/or instruments, as described above and in thepresent disclosure, the instrument arm assembly may also comprise a gasshield, such as the gas shield described above for the image capturingassembly 220. One or more of the instrument arm assemblies (such as 230,240) may further comprise one or more internal temperature controlassemblies operable to control (such as reduce or increase) thetemperature of one or more components of the instrument arm assembly.

As illustrated in the example embodiment of FIGS. 2A-D, 3A-D, FIG. 5A,FIG. 5B, FIG. 5P, and FIG. 5Q, each of the instrument arm assemblies,including the first instrument arm assembly 230, may comprise shouldersection 231, second arm assembly 360, 360, first arm assembly 330, andend-effector assembly 340. The instrument arm assembly 230 may alsocomprise a shoulder joint assembly 232 having a shoulder sway jointsection 380 and/or shoulder pitch joint section 370; an elbow jointassembly 234 having an elbow sway joint section 350 and/or elbow pitchjoint section 350′; a third joint portion (or wrist section) 236pivotally moveable relative to an axis B (as illustrated in at leastFIGS. 5D-H); and an end effector joint portion 238 pivotally moveablerelative to an axis A (as illustrated in at least FIGS. 5D-H). Each ofthe aforementioned joint portions may be configurable, either manuallyand/or via the computing device (or system), to provide an attachedinstrument arm segment (and the end effector 239, 342, 344) with one ormore in vivo degrees of freedom when the instrument arm assembly isprovided in the abdominal cavity of the patient. For example, theshoulder joint assembly 232 may be operable to provide the second armassembly 360 with one or more degrees of freedom (e.g., resembling theone or more degrees of freedom of the human shoulder). Specifically, theshoulder joint assembly 232 may include a shoulder sway joint section380 operable to provide the second arm assembly 360 with a movement(e.g., rotation or pivotal movement) relative to an axis E (asillustrated in at least FIGS. 5L, 5M, 5S, and 5T). The shoulder jointassembly 232 may include a shoulder pitch joint section 370 operable toprovide the second arm assembly 360 with a movement (e.g., rotation orpivotal movement) relative to an axis D (as illustrated in at leastFIGS. 5L, 5M, 5S, and 5T). Axis E may be different from axis D (e.g.,axis E may be substantially orthogonal to axis D). As another example,the elbow joint assembly 234 may be operable to provide the first armassembly 330 with one or more degrees of freedom. Specifically, theelbow joint assembly 234 may include an elbow sway joint assembly 350operable to provide the first arm assembly 330 with a movement (e.g.,rotation or pivotal movement) relative to an axis C (as illustrated inat least FIGS. 5L, 5M, 5S, and 5T). The elbow joint assembly 234 mayinclude an elbow pitch joint section 350′ operable to provide the firstarm assembly 330 with a movement (e.g., rotation or pivotal movement)relative to an axis C′ (as illustrated in at least FIGS. 5S and 5T).Axis C may be different from axis C′ (e.g., axis C may be substantiallyorthogonal to axis C′). As another example, the third joint portion (orwrist section) 236 may be operable to provide the instrument assembly237 with one or more degrees of freedom resembling the one or moredegrees of freedom of the human wrist. Specifically, the third jointportion (or wrist section) 236 may be operable to provide the instrumentassembly 237 with a movement (e.g., rotation or pivotal movement)relative to an axis B (as illustrated in at least FIGS. 5L, 5M, 5S, and5T). As another example, the end effector joint portion 238 (asillustrated in at least FIGS. 5A-B, 5P-Q, 5H) may be operable to providethe end effector or instrument 239, 342, 344 with one or more degrees offreedom. Specifically, the end effector joint portion 238 may beoperable to provide the end effector or instrument 239, 342, 344 with amovement (e.g., rotation or pivotal movement) relative to an axis A (asillustrated in at least FIGS. 5D-I, 5L-M, 5S-T). Axis B may be differentform axis A (e.g., axis B may be substantially orthogonal to axis A).Accordingly, one or more of the instrument arm assemblies may beconfigurable, either manually and/or via the computingdevice/controller, to provide seven or more in vivo degrees of freedomand, together with the at least one to three or more in vitro degree offreedom provided by the port assembly 210 and the controllable swivelassembly 1000 (see FIGS. 10A and 10B), the one or more of the instrumentarm assemblies may be configurable, either manually and/or via thecomputing device/controller, to provide a total of eight to ten or moredegrees of freedom. It is recognized herein that the aforementioned atleast seven in vivo degrees of freedom for the instrument arm assemblyenables at least the full range of natural movements by a surgeon's arm(via a controller/computer-human interface/manipulator/master inputdevice, such as the example illustrated in FIGS. 9A and 9B) to besubstantially directly mapped and/or translated to the instrument armassembly.

Each joint portion, including joint portions 232, 370, 380, 234, 350,350′, 236, and/or 238 may comprise any one or more configurations ofgears and/or gear assemblies, including straight gear configurations,planetary gear configurations, beveled gear configurations, spiralbeveled gear configurations, hypoid gear configurations, helical gearconfigurations, worm gear configurations, and/or any other gearconfiguration without departing from the teachings of the presentdisclosure. In example embodiments, each instrument arm assembly mayalso comprise one or more internal integrated motors 332, 334, 336, 339,362, 364, 366, 369, or the like, operable to actuate (e.g., via firstinstrument drive portion 332 a, second instrument drive portion 334 a,wrist drive portion 336 a, first arm assembly drive assembly 339 a(which is configurable to drive the first arm assembly 330 relative toan axis F, as illustrated in at least FIG. 5K), elbow sway drive portion362 a, elbow pitch drive portion 362 a′, shoulder pitch drive portion364 a, shoulder sway drive portion 366 a) the gears of each jointportion (e.g., first instrument driven portion 342 a, second instrumentdriven portion 344 a, wrist driven portion 346 a, first arm assemblydriven assembly 347 (which is configurable to be driven by the first armassembly drive assembly 339 a to drive the first arm assembly 330relative to an axis F, as illustrated in at least FIG. 5K), elbow swaydriven portion 352, elbow pitch driven portion 352′, shoulder pitchdriven portion 364 b, shoulder sway driven portion 366 b, 366 c (ifneeded), 366 d (if needed)) and joint portions 232, 370, 380, 234, 350,350′, 236, and 238 and/or the segments 231, 360, 330, and 340. In thisregard, each of the integrated motors, joint portions, and/or segmentsdescribed above and in the present disclosure may be operable tocommunicate, such as receive control commands and/or transmitinformation, from and/or to the computing device/controller of one ormore nearby and/or remotely located surgical teams 904 via wired and/orwireless communication in example embodiments. Furthermore, each of theintegrated motors, joint portions, and/or instrument arm segmentsdescribed above and in the present disclosure may be operable to receivepower and/or control signals from an external power source and/or thecomputing device/controller via wired and/or wireless transmissions inexample embodiments.

End-Effector Assembly (e.g., End-Effector Assembly 340).

An example embodiment of the end-effector assembly (e.g., end-effectorassembly 340) may comprise an instrument assembly 237. The end-effectorassembly 340 may also include a wrist assembly. The instrument assembly237 may include a first instrument assembly and a second instrumentassembly. Although the figures illustrate an end-effector assemblyhaving a first instrument and a second instrument, it is to beunderstood in the present disclosure that the end-effector assembly mayhave more other instruments or may only have a first instrument or asecond instrument without departing from the teachings of the presentdisclosure. The wrist assembly may include wrist joint portion 236, andmay also include wrist connector 348.

(i) First Instrument Assembly.

An example embodiment of the first instrument assembly may comprise afirst instrument (e.g., first instrument 342) for use in performing asurgical action. The first instrument 342 may be any surgical instrumentwithout departing from the teachings of the present disclosure.

In an example embodiment, the first instrument 342 may be configurableto receive an electric current (e.g., first electric current) appliedfrom a first energy source (not shown) so as to perform actions of anelectrosurgical instrument. Although the first instrument may bedescribed above and in the present disclosure to receive an electriccurrent, it is to be understood that the first instrument may also beconfigurable to receive a voltage potential, thermal energy, heat, coldtemperature application, radiation, etc. to perform the said surgicalaction without departing from the teachings of the present disclosure.

The first instrument assembly may also comprise a first instrumentdriven portion (e.g., first instrument driven portion 342 a). The firstinstrument driven portion 342 a may be configurable to be driven by thefirst instrument drive portion 332 a of the integrated motor 332. Thefirst instrument driven portion 342 a may be driven by the firstinstrument drive portion 332 a in such a way as to move the firstinstrument 342. For example, the first instrument driven portion 342 amay be driven to move the first instrument 342 relative to a first axis(e.g., axis A). In this regard, such movement of the first instrument342 may be a rotation of a distal end of the first instrument 342relative to a proximal end of the first instrument 342, and suchproximal end may serve as a pivot for such movement.

The first instrument driven portion 342 a may be any mechanism, device,or the like, configurable to be driven by the first instrument driveportion 332 a. For example, the first instrument driven portion 342 amay comprise any one or more configurations or combinations of gearsand/or gear assemblies, including straight gear configurations,planetary gear configurations, beveled gear configurations, spiralbeveled gear configurations, hypoid gear configurations, helical gearconfigurations, worm gear configurations, and/or any other gear and/ormechanical configurations (such as wire and pulley) without departingfrom the teachings of the present disclosure. Although the figuresillustrate an end-effector assembly having one first instrument drivenportion, it is to be understood in the present disclosure that theend-effector assembly may have more than one first instrument drivenportions without departing from the teachings of the present disclosure.

In example embodiments wherein the end-effector assembly 340 isdetachable (i.e., unsecurable) from the arm assembly 330, it is to beunderstood that the first instrument drive portion 332 a of theintegrated motor 332 may be operable to drive the first instrumentdriven portion 342 a when the end-effector assembly 340 is secured(i.e., attached) to the arm assembly 330. Specifically, the firstinstrument drive portion 332 a of the integrated motor 332 may beoperable to drive the first instrument driven portion 342 a when thewrist connector portion 338 is secured (i.e., attached) to the wristassembly (as further described below and in the present disclosure) ofthe end-effector assembly (and more specifically, the connector 348 ofthe end-effector assembly 340).

In example embodiments wherein the end-effector assembly 340 isdetachable (i.e., unsecurable) from the arm assembly 330, it is to beunderstood that one or more connectable and unconnectable electricwires, cables, or the like, may be provided to enable the firstinstrument 342 to receive the electric current from the energy source toperform the actions of an electrosurgical instrument.

The first instrument assembly may also comprise a first instrumentinsulative portion (e.g., first instrument insulative portion 342 b).The first instrument insulative portion 342 b may be providable betweenthe first instrument 342 and one or more portions of the end-effectorassembly 340 so as to electrically isolate (or electrically insulate,thermally isolate, thermally insulate, and the like) the firstinstrument 342 from the one or more portions of the end-effectorassembly 340. In an example embodiment, the first instrument insulativeportion 342 b may be providable between the first instrument 342 and thefirst instrument driven portion 342 a so as to electrically isolate (orelectrically insulate, thermally isolate, thermally insulate, and thelike) the first instrument 342 from the first instrument driven portion342 a. Such electric isolation (or electric insulation, thermalisolation, thermal insulation, and the like) may be desirable to protectelectrically (or thermally) sensitive components/portions of thesurgical arm assembly and/or also prevent such electric current (orvoltage potential, thermal energy, heat, cold temperature application,radiation, etc.) from undesirably passing through to the secondinstrument 344 via the first instrument driven portion 342 a and/orother component/portion of the surgical arm assembly.

The first instrument insulative portion 342 b may be formed using anyone or more of a plurality of materials, such as electrically insulativematerials, thermally insulative materials, plastics, elastomers,ceramics, glasses, and minerals. It is to be understood in the presentdisclosure that other materials may also be used without departing fromthe teachings of the present disclosure.

The first instrument 342 may be formed using any one or more of aplurality of materials, such as surgical-grade metals, high-strengthaluminum alloys, stainless steel (such as 304/304L, 316/316L, and 420),pure titanium, titanium alloys (such as Ti6A14V, NiTi), cobalt-chromiumalloys, and magnesium alloys. It is to be understood in the presentdisclosure that other materials may also be used without departing fromthe teachings of the present disclosure. Furthermore, the firstinstrument 342 may include an opening, or the like, for use in receivingand housing at least a portion of the first instrument insulativeportion 342 b. The first axis (e.g., axis A) may be formed through acenter of the opening of the first instrument 342 in exampleembodiments. Although the opening may be depicted in the figures to becircular in shape and the corresponding exterior portion of the firstinstrument insulative portion 342 b being housed in the opening may bedepicted in the figures to be circular in shape, it is to be understoodin the present disclosure that the opening and such correspondingexterior portion may be formed in one or more other shapes, including,but not limited to, a square, rectangle, oval, pentagon, hexagon, etc.,without departing from the teachings of the present disclosure.

(ii) Second Instrument Assembly.

An example embodiment of the second instrument assembly may comprise asecond instrument (e.g., second instrument 344) for use in performing asurgical action. The second instrument 344 may be any surgicalinstrument without departing from the teachings of the presentdisclosure.

In an example embodiment, the second instrument 344 may be configurableto receive an electric current (e.g., second electric current) appliedfrom a second energy source (not shown) so as to perform actions of anelectrosurgical instrument. Although the second instrument may bedescribed above and in the present disclosure to receive an electriccurrent, it is to be understood that the second instrument may also beconfigurable to receive a voltage potential, thermal energy, heat, coldtemperature application, radiation, etc. to perform the said surgicalaction without departing from the teachings of the present disclosure.

The second instrument assembly may also comprise a second instrumentdriven portion (e.g., second instrument driven portion 344 a). Thesecond instrument driven portion 344 a may be configurable to be drivenby the second instrument drive portion 334 a of the integrated motor334. The second instrument driven portion 344 a may be driven by thesecond instrument drive portion 334 a in such a way as to move thesecond instrument 344. For example, the second instrument driven portion344 a may be driven to move the second instrument 344 relative to thefirst axis (e.g., axis A). In this regard, such movement of the secondinstrument 344 may be a rotation of a distal end of the secondinstrument 344 relative to a proximal end of the second instrument 344,and such proximal end may serve as a pivot for such movement.

The second instrument driven portion 344 a may be any mechanism, device,or the like, configurable to be driven by the second instrument driveportion 334 a. For example, the second instrument driven portion 344 amay comprise any one or more configurations or combinations of gearsand/or gear assemblies, including straight gear configurations,planetary gear configurations, beveled gear configurations, spiralbeveled gear configurations, hypoid gear configurations, helical gearconfigurations, worm gear configurations, and/or any other gear and/ormechanical configurations (such as wire and pulley) without departingfrom the teachings of the present disclosure. Although the figuresillustrate an end-effector assembly having one second instrument drivenportion, it is to be understood in the present disclosure that theend-effector assembly may have more than one second instrument drivenportions without departing from the teachings of the present disclosure.

In example embodiments wherein the end-effector assembly 340 isdetachable (i.e., unsecurable) from the arm assembly 330, it is to beunderstood that the second instrument drive portion 334 a of theintegrated motor 334 may be operable to drive the second instrumentdriven portion 344 a when the end-effector assembly 340 is secured(i.e., attached) to the arm assembly 330. Specifically, the secondinstrument drive portion 334 a of the integrated motor 334 may beoperable to drive the second instrument driven portion 344 a when thewrist connector portion 338 is secured (i.e., attached) to the wristassembly (as further described below and in the present disclosure) ofthe end-effector assembly (and more specifically, the connector 348 ofthe end-effector assembly 340).

In example embodiments wherein the end-effector assembly 340 isdetachable (i.e., unsecurable) from the arm assembly 330, it is to beunderstood that one or more connectable and unconnectable electricwires, cables, or the like, may be provided to enable the secondinstrument 344 to receive the electric current from the energy source toperform the actions of an electrosurgical instrument.

The second instrument assembly may also comprise a second instrumentinsulative portion (e.g., second instrument insulative portion 344 b).The second instrument insulative portion 344 b may be providable betweenthe second instrument 344 and one or more portions of the end-effectorassembly 340 so as to electrically isolate (or electrically insulate,thermally isolate, thermally insulate, and the like) the secondinstrument 344 from the one or more portions of the end-effectorassembly 340. In an example embodiment, the second instrument insulativeportion 344 b may be providable between the second instrument 344 andthe second instrument driven portion 344 a so as to electrically isolate(or electrically insulate, thermally isolate, thermally insulate, andthe like) the second instrument 344 from the second instrument drivenportion 344 a. Such electric isolation (or electric insulation, thermalisolation, thermal insulation, and the like) may be desirable to protectelectrically (or thermally) sensitive components/portions of thesurgical arm assembly and/or also prevent such electric current (orvoltage potential, thermal energy, heat, cold temperature application,radiation, etc.) from undesirably passing through to the firstinstrument 342 via the second instrument driven portion 344 a and/orother component/portion of the surgical arm assembly.

The second instrument insulative portion 344 b may be formed using anyone or more of a plurality of materials, such as electrically insulativematerials, thermally insulative materials, plastics, elastomers,ceramics, glasses, and minerals. It is to be understood in the presentdisclosure that other materials may also be used without departing fromthe teachings of the present disclosure.

The second instrument 344 may be formed using any one or more of aplurality of materials, such as surgical-grade metals, high-strengthaluminum alloys, stainless steel (such as 304/304L, 316/316L, and 420),pure titanium, titanium alloys (such as Ti6A14V, NiTi), cobalt-chromiumalloys, and magnesium alloys. It is to be understood in the presentdisclosure that other materials may also be used without departing fromthe teachings of the present disclosure. Furthermore, the secondinstrument 344 may include an opening, or the like, for use in receivingand housing at least a portion of the second instrument insulativeportion 344 b. The first axis (e.g., axis A) may be formed through acenter of the opening of the second instrument 344 in exampleembodiments. Although the opening may be depicted in the figures to becircular in shape and the corresponding exterior portion of the secondinstrument insulative portion 344 b being housed in the opening may bedepicted in the figures to be circular in shape, it is to be understoodin the present disclosure that the opening and such correspondingexterior portion may be formed in one or more other shapes, including,but not limited to, a square, rectangle, oval, pentagon, hexagon, etc.,without departing from the teachings of the present disclosure.

(iii) Cooperation of the First Instrument Assembly and Second InstrumentAssembly.

In example embodiments, the first instrument (e.g., first instrument342) and second instrument (e.g., second instrument 344) may beselectively moveable/drivable independently from one another. In exampleembodiments, the first instrument 342 and the second instrument 344 maybe selectively moveable/drivable in a similar or same manner, such asbeing moveable/driveable at the same time, for the same duration, forthe same distance, and/or with the same output energy. Although thefigures illustrate end-effector assembly having a first instrument and asecond instrument, it is to be understood in the present disclosure thatthe end-effector assembly may have more other instruments or may onlyhave a first instrument or a second instrument without departing fromthe teachings of the present disclosure. For example, the firstinstrument 342 and the second instrument 344 may cooperate to form agrasper. As another example, the first instrument 342 and the secondinstrument 344 may cooperate to form scissors. As another example, thefirst instrument 342 and the second instrument 344 may cooperate to forma Maryland grasper. Other forms and types of first instruments and/orsecond instruments are contemplated in the present disclosure inaddition to or in replacement of the first instrument and/or secondinstrument described above and herein without departing from theteachings of the present disclosure.

For example, as described above, the first instrument 342 may beconfigurable to receive an electric current (e.g., first electriccurrent) applied from a first energy source (not shown) so as to performactions of an electrosurgical instrument. In addition to or inreplacement, the second instrument 344 may be configurable to receive anelectric current (e.g., second electric current) applied from a secondenergy source (not shown). The first current may be the same inmagnitude as but opposite in direction to the second current in exampleembodiments, and the first energy source may be the same as or differentfrom the second energy source in example embodiments. In suchembodiments where the first instrument and second instrumentcollectively cooperate to form a monopolar electrosurgical instrument,or the like, when a mass (e.g., a tissue mass) is provided between thefirst instrument 342 and second instrument 344 and an electric currentis applied to the first instrument 342 or the second instrument 344, themass will serve to enable the applied electric current to pass throughand aid in cutting, coagulating, desiccating, and/or fulgurating themass. Similarly, in embodiments where the first instrument and secondinstrument collectively cooperate to form a bipolar electrosurgicalinstrument, or the like, when a mass (e.g., a tissue mass) is providedbetween the first instrument 342 and second instrument 344 and anelectric current is applied to the first instrument 342 and the secondinstrument 344, the mass will serve to enable the applied electriccurrent to pass through and aid in performing a surgical action,including cutting, coagulating, desiccating, cauterizing, and/orfulgurating the mass. Although the first instrument and/or secondinstrument may be described above and in the present disclosure toreceive an electric current, it is to be understood that the firstinstrument and/or second instrument may also be configurable to receivea voltage potential, thermal energy, heat, cold temperature application,radiation, etc. to perform the said surgical action without departingfrom the teachings of the present disclosure.

(iv) Wrist Assembly.

The wrist assembly may be securable or secured to the instrumentassembly 237 in example embodiments. The wrist assembly may comprise awrist driven portion (e.g., wrist driven portion 346 a). The wristassembly may further comprise a connector (e.g., connector 348).

The wrist driven portion 346 a may be configurable to be driven by thewrist drive portion 336 a via the integrated motor 336. The wrist drivenportion 346 a may be driven by the wrist drive portion 336 a in such away as to move the instrument assembly 237, including the firstinstrument 342 and/or second instrument 344. For example, the wristdriven portion 346 a may be driven to pivotally move the firstinstrument 342 relative to a second axis (e.g., axis B). In this regard,such movement of the first instrument 342 may be a rotation (or pivotalmovement) of a distal end of the first instrument 342 relative to apoint on the second axis (e.g., axis B), and such point may serve as apivot for such movement. In addition to or in replacement, the wristdriven portion 346 a may be driven by the wrist drive portion 336 a insuch a way as to move the second instrument 344. For example, the wristdriven portion 346 a may be driven to pivotally move the secondinstrument 344 relative to the second axis (e.g., axis B). In thisregard, such movement of the second instrument 344 may be a rotation (orpivotal movement) of a distal end of the second instrument 344 relativeto a point on the second axis (e.g., axis B), and such point may serveas a pivot for such movement. In example embodiments, the wrist drivenportion 346 a may be driven by the wrist drive portion 336 a in such away as to collectively move the first instrument 342 and the secondinstrument 344. For example, the wrist driven portion 346 a may bedriven to collectively move the first instrument 342 and the secondinstrument 344 relative to the second axis (e.g., axis B). In thisregard, such movement of the first instrument 342 and the secondinstrument 344 may be a collective rotation (or pivotal movement) of adistal end of the first instrument 342 and distal end of the secondinstrument 344 relative to a point on the second axis (e.g., axis B),and such point may serve as a pivot for such movement. Axis B may bedifferent from axis A (e.g., axis B may be substantially orthogonal toaxis A).

The wrist driven portion 346 a may be any mechanism, device, or thelike, configurable to be driven by the wrist drive portion 336 a. Forexample, the wrist driven portion 346 a may comprise any one or moreconfigurations or combinations of gears and/or gear assemblies,including straight gear configurations, planetary gear configurations,beveled gear configurations, spiral beveled gear configurations, hypoidgear configurations, helical gear configurations, worm gearconfigurations, and/or any other gear and/or mechanical configurations(such as wire and pulley) without departing from the teachings of thepresent disclosure. Although the figures illustrate an end-effectorassembly having one wrist driven portion, it is to be understood in thepresent disclosure that the end-effector assembly may have more than onewrist driven portions without departing from the teachings of thepresent disclosure.

Arm Assemblies (e.g., First Arm Assembly 330, Second Arm Assembly 360).

(i) First Arm Assembly (e.g., First Arm Assembly 330).

An example embodiment of the first arm assembly 330 is illustrated in atleast FIGS. 5A-C, 5L-M, and 5S-T. The arm assembly 330 may be securableto the end-effector assembly 340. In an example embodiment, the armassembly 330 may be securable to and unsecurable from (e.g., detached)the end-effector assembly 340. As illustrated in FIGS. 5C and 5J, thearm assembly 330 may include an arm assembly body (e.g., arm assemblybody 331), a first end 330 a (or proximal end), and a second end 330 b(or distal end) opposite to the first end 330 a. The elbow pitch jointportion 350′ may be secured to the first end 330 a and the end-effectorassembly 340 may be secured to the second end 330 b. The wrist connectorportion 338 may be provided at the second end 330 b. The arm assemblybody 331 may securely house one or more of a plurality of driveassemblies.

In an example embodiment, the arm assembly body 331 may securely house afirst instrument drive assembly. The first instrument drive assembly mayinclude a first integrated motor (e.g., first integrated motor 332), andmay also include a first instrument drive portion (e.g., firstinstrument drive portion 332 a). The first instrument drive portion 332a may be provided at the second end 330 b of the arm assembly body 331.The first instrument drive portion 332 a may be controllable by thefirst integrated motor 332 to drive the first instrument driven portion342 a when the wrist connector portion 338 is secured to the wristassembly. The first instrument drive portion 332 a may be any mechanism,device, or the like, configurable to drive the first instrument drivenportion 342 a. For example, the first instrument drive portion 332 a maycomprise any one or more configurations or combinations of gears and/orgear assemblies, including straight gear configurations, planetary gearconfigurations, beveled gear configurations, spiral beveled gearconfigurations, hypoid gear configurations, helical gear configurations,worm gear configurations, and/or any other gear and/or mechanicalconfigurations (such as wire and pulley) without departing from theteachings of the present disclosure. Although the figures illustrate anarm assembly having one first instrument drive portion 332 a, it is tobe understood in the present disclosure that the arm assembly may havemore than one first instrument drive portions 332 a without departingfrom the teachings of the present disclosure.

The arm assembly body 331 may also securely house a second instrumentdrive assembly in example embodiments. The second instrument driveassembly may include a second integrated motor (e.g., second integratedmotor 334), and may also include a second instrument drive portion(e.g., second instrument drive portion 334 a). The second instrumentdrive portion 334 a may be provided at the second end 330 b of the armassembly body 331. The second instrument drive portion 334 a may becontrollable by the second integrated motor 334 to drive the secondinstrument driven portion 344 a when the wrist connector portion 338 issecured to the wrist assembly. The second instrument drive portion 334 amay be any mechanism, device, or the like, configurable to drive thesecond instrument driven portion 344 a. For example, the secondinstrument drive portion 334 a may comprise any one or moreconfigurations or combinations of gears and/or gear assemblies,including straight gear configurations, planetary gear configurations,beveled gear configurations, spiral beveled gear configurations, hypoidgear configurations, helical gear configurations, worm gearconfigurations, and/or any other gear and/or mechanical configurations(such as wire and pulley) without departing from the teachings of thepresent disclosure. Although the figures illustrate an arm assemblyhaving one second instrument drive portion 334 a, it is to be understoodin the present disclosure that the arm assembly may have more than onesecond instrument drive portions 334 a without departing from theteachings of the present disclosure.

The arm assembly body 331 may also securely house a wrist drive assemblyin example embodiments. The wrist drive assembly may include a thirdintegrated motor (e.g., third integrated motor 336), and may alsoinclude a wrist drive portion (e.g., wrist drive portion 336 a). Thewrist drive portion 336 a may be provided at the second end 330 b of thearm assembly body 331. The wrist drive portion 336 a may be controllableby the third integrated motor 336 to drive the wrist driven portion 346a when the wrist connector portion 338 is secured to the wrist assembly.The wrist drive portion 336 a may be any mechanism, device, or the like,configurable to drive the wrist driven portion 346 a. For example, thewrist drive portion 336 a may comprise any one or more configurations orcombinations of gears and/or gear assemblies, including straight gearconfigurations, planetary gear configurations, beveled gearconfigurations, spiral beveled gear configurations, hypoid gearconfigurations, helical gear configurations, worm gear configurations,and/or any other gear and/or mechanical configurations (such as wire andpulley) without departing from the teachings of the present disclosure.Although the figures illustrate an arm assembly having one wrist driveportion 336 a, it is to be understood in the present disclosure that thearm assembly may have more than one wrist drive portions 336 a withoutdeparting from the teachings of the present disclosure.

The arm assembly body 331 may also securely house a first arm assemblydrive assembly in example embodiments. The first arm assembly driveassembly may include a fourth integrated motor (e.g., fourth integratedmotor 339), and may also include a first arm assembly drive portion(e.g., first arm assembly drive portion 339 a). The first arm assemblydrive portion 339 a may be provided at the first end 330 a of the armassembly body 331. The first arm assembly drive portion 339 a may becontrollable by the fourth integrated motor 339 to drive the first armassembly driven portion 347 to drive the first arm assembly body 331 tomove relative to an axis (e.g., axis F illustrated in FIG. 5K). Axis Fmay be formed by the first arm assembly 330 (e.g., axis F may be formedby a center line drawn through the first arm assembly body 331). Thefirst arm assembly drive portion 339 a may be any mechanism, device, orthe like, configurable to drive the first arm assembly body 331 to moverelative to the first arm assembly joint portion 350. For example, thefirst arm assembly drive portion 339 a may comprise any one or moreconfigurations or combinations of gears and/or gear assemblies,including straight gear configurations, planetary gear configurations,beveled gear configurations, spiral beveled gear configurations, hypoidgear configurations, helical gear configurations, worm gearconfigurations, and/or any other gear and/or mechanical configurations(such as wire and pulley) without departing from the teachings of thepresent disclosure. Although the figures illustrate an arm assemblyhaving one first arm assembly drive portion 339 a, it is to beunderstood in the present disclosure that the arm assembly may have morethan first arm assembly drive portions 339 a without departing from theteachings of the present disclosure.

Although the figures illustrate the first arm assembly 330 having thefirst integrated motor 332, second integrated motor 334, thirdintegrated motor 336, fourth integrated motor 339, first instrumentdrive portion 332 a, second instrument drive portion 334 a, wrist driveportion 336 a, and first arm assembly drive portion 339 a, it is to beunderstood that the first arm assembly 330 may (or may not) include thefirst integrated motor 332, second integrated motor 334, thirdintegrated motor 336, fourth integrated 339, first instrument driveportion 332 a, second instrument drive portion 334 a, wrist driveportion 336 a, and/or first arm assembly drive portion 339 a, and/or mayalso include other integrated motor(s) and/or other drive portions,without departing from the teachings of the present disclosure. It isalso to be understood that the first integrated motor 332, secondintegrated motor 334, third integrated motor 336, fourth integratedmotor 339, first instrument drive portion 332 a, second instrument driveportion 334 a, wrist drive portion 336 a, and/or first arm assemblydrive portion 339 a may be located, in part or in whole, in the firstarm assembly 330, second arm assembly 360, and/or any other location orelement of the arm assembly 230 without departing from the teachings ofthe present disclosure.

(ii) Second Arm Assembly (e.g., Second Arm Assembly 360)

An example embodiment of the second arm assembly 360 is illustrated inat least FIGS. 5A-C, 5L-M, and 55-T. The second arm assembly 360 may besecurable to the first arm assembly 330 on one end (via the elbow swayjoint portion 350 and/or elbow pitch joint portion 350′) and securableto the shoulder section 231 on another end (via the shoulder sway jointportion 380 and/or shoulder pitch joint portion 370). When secured tothe shoulder section 231, the second arm assembly 360 may beconfigurable to move in one or more of a plurality of ways relative tothe shoulder section 231, including, but not limited to, pitch, yaw,and/or roll relative to the shoulder section 231. In an exampleembodiment, the second arm assembly 360 may be securable to andunsecurable from (e.g., detached) the first arm assembly 330. Asillustrated in at least FIGS. 5L-N and 5S-U, the second arm assembly 360may include a second arm assembly body or housing (e.g., second armassembly body 360′), a first end 360 a (or proximal end), and a secondend 360 b (or distal end) opposite to the first end 360 a. The elbowsway joint portion 350 or elbow pitch joint portion 350′ may be securedto the second end 360 b. The shoulder pitch joint portion 370 orshoulder sway joint portion 380 may be secured to the first end 360 a.As illustrated in at least FIGS. 5S and 5T, in an example embodiment, anend of the elbow sway joint portion 350 (e.g., proximal end) may besecured to the second arm assembly 360 (e.g., distal end, such as secondend 360 b), another end of the elbow sway joint portion 350 (e.g.,distal end) may be secured to the elbow pitch joint portion 350′ (e.g.,proximal end), an end of the elbow pitch joint portion 350′ (e.g.,distal end) may be secured to the first arm assembly 330 (e.g., proximalend, such as first end 330 a), an end of the shoulder pitch jointportion 370 (e.g., distal end) may be secured to the second arm assembly360 (e.g., proximal end, such as first end 360 a), another end of theshoulder pitch joint portion 370 (e.g., proximal end) may be secured tothe shoulder sway joint portion 380 (e.g., distal end), and an end ofthe shoulder sway joint portion 380 (e.g., proximal end) may be securedto the shoulder section 231 (e.g., distal end). The second arm assemblybody 360′ may securely house one or more of a plurality of driveassemblies.

In an example embodiment, the second arm assembly body 360′ may securelyhouse an elbow pitch drive assembly. The elbow pitch drive assembly mayinclude a fifth integrated motor (e.g., fifth integrated motor 362), andmay also include an elbow pitch drive portion (e.g., elbow pitch driveportion 362 a′). The elbow pitch drive portion 362 a′ may be provided atthe second end 360 b (e.g., distal end) of the second arm assembly 360.The elbow pitch drive portion 362 a′ may be controllable by the fifthintegrated motor 362 to drive the elbow pitch driven portion 352′. Theelbow pitch drive portion 362 a′ may be any mechanism, device, or thelike, configurable to drive the elbow pitch driven portion 352′. In anexample embodiment, the elbow pitch drive portion 362 a′ may beconfigurable to drive the elbow pitch driven portion 352′ so as to causethe first arm assembly 330 to pivotally move or rotate relative to anaxis (e.g., axis C′). Put differently, the fifth integrated motor 362may be configurable to pivotally move or rotate the first arm assembly330 relative to the second arm assembly 360 and/or elbow sway jointportion 350 (and with respect to axis C′). For example, the elbow pitchdrive portion 362 a′ may comprise any one or more configurations orcombinations of gears and/or gear assemblies, including straight gearconfigurations, planetary gear configurations, beveled gearconfigurations, spiral beveled gear configurations, hypoid gearconfigurations, helical gear configurations, worm gear configurations,and/or any other gear and/or mechanical configurations (such as wire andpulley) without departing from the teachings of the present disclosure.Although the figures illustrate a second arm assembly having one elbowpitch drive portion 362 a′, it is to be understood in the presentdisclosure that the second arm assembly may have more than one elbowdrive portions 362 a without departing from the teachings of the presentdisclosure.

The second arm assembly body 360′ may also securely house an elbow swaydrive assembly. The elbow sway drive assembly may include a sixthintegrated motor (e.g., sixth integrated motor 369), and may alsoinclude an elbow sway drive portion (e.g., elbow sway drive portion 362a). The elbow sway drive portion 362 a may be provided at the second end360 b (e.g., distal end) of the second arm assembly 360. The elbow swaydrive portion 362 a may be controllable by the sixth integrated motor369 to drive the elbow sway driven portion 352. The elbow sway driveportion 362 a may be any mechanism, device, or the like, configurable todrive the elbow sway driven portion 352. In an example embodiment, theelbow sway drive portion 362 a may be configurable to drive the elbowsway driven portion 352 so as to cause the first arm assembly 330 topivotally move or rotate relative to an axis (e.g., axis C). Putdifferently, the sixth integrated motor 369 may be configurable topivotally move or rotate the elbow pitch joint portion 350′ (andconsequently the first arm assembly 330) relative to the second armassembly 360 (and with respect to axis C). The axis C may be differentfrom axis C′. In an example embodiment, axis C may be substantiallyorthogonal to axis C′. The elbow sway drive portion 362 a may compriseany one or more configurations or combinations of gears and/or gearassemblies, including straight gear configurations, planetary gearconfigurations, beveled gear configurations, spiral beveled gearconfigurations, hypoid gear configurations, helical gear configurations,worm gear configurations, and/or any other gear and/or mechanicalconfigurations (such as wire and pulley) without departing from theteachings of the present disclosure. Although the figures illustrate asecond arm assembly having one elbow sway drive portion 362 a, it is tobe understood in the present disclosure that the second arm assembly mayhave more than one elbow sway drive portions 362 a without departingfrom the teachings of the present disclosure.

The second arm assembly body 360′ may also securely house a shoulderpitch drive assembly in example embodiments. The shoulder pitch driveassembly may include a seventh integrated motor (e.g., seventhintegrated motor 364) and a shoulder pitch drive portion (e.g., shoulderpitch drive portion 364 a). The shoulder pitch drive portion 364 a maybe provided at the first end 360 a (e.g., proximal end) of the secondarm assembly 360. The shoulder pitch drive portion 364 a may becontrollable by the seventh integrated motor 364 to drive the shoulderpitch driven portion 364 b. The shoulder pitch drive portion 364 a maybe any mechanism, device, or the like, configurable to drive theshoulder pitch driven portion 364 b. In an example embodiment, theshoulder pitch drive portion 364 a may be configurable to drive theshoulder pitch driven portion 364 b so as to cause the second armassembly 360 to pivotally move or rotate relative to an axis (e.g., axisD). Put differently, the seventh integrated motor 364 may beconfigurable to pivotally move or rotate the second arm assembly 360relative to the shoulder sway joint portion 380 (and/or shoulder section231) (and with respect to axis D). For example, the shoulder pitch driveportion 364 a may comprise any one or more configurations orcombinations of gears and/or gear assemblies, including straight gearconfigurations, planetary gear configurations, beveled gearconfigurations, spiral beveled gear configurations, hypoid gearconfigurations, helical gear configurations, worm gear configurations,and/or any other gear and/or mechanical configurations (such as wire andpulley) without departing from the teachings of the present disclosure.Although the figures illustrate a second arm assembly having oneshoulder pitch drive portion 364 a, it is to be understood in thepresent disclosure that the second arm assembly may have more than oneshoulder pitch drive portions 364 a without departing from the teachingsof the present disclosure.

The second arm assembly body 360′ may also securely house a shouldersway drive assembly in example embodiments. The shoulder sway driveassembly may include an eighth integrated motor (e.g., eighth integratedmotor 366) and a shoulder sway drive portion (e.g., shoulder sway driveportion 366 a). The shoulder sway drive portion 366 a may be provided atthe first end 360 a (e.g. proximal end) of the second arm assembly 360.The shoulder sway drive portion 366 a may be controllable by the eighthintegrated motor 366 to drive the shoulder sway driven portion 366 b,366 c, and/or 366 d. The shoulder sway drive portion 366 a may be anymechanism, device, or the like, configurable to drive the first shouldersway driven portion 366 b. In an example embodiment, the shoulder swaydrive portion 366 a may be configurable to drive the shoulder swaydriven portion 366 b, 366 c, and/or 366 d so as to cause the second armassembly 360 to pivotally move or rotate relative to an axis (e.g., axisE). Put differently, the eighth integrated motor 366 may be configurableto pivotally move or rotate the shoulder pitch joint portion 370 (and/orthe second arm assembly 360) relative to the shoulder section 231 (andwith respect to axis E). The axis E may be different from axis D. In anexample embodiment, axis E may be substantially orthogonal to axis D.One or more of the shoulder sway drive portion 366 a, first shouldersway driven portion 366 b, second shoulder sway driven portion 366 c,and third shoulder sway driven portion 366 d may comprise any one ormore configurations or combinations of gears and/or gear assemblies,including straight gear configurations, planetary gear configurations,beveled gear configurations, spiral beveled gear configurations, hypoidgear configurations, helical gear configurations, worm gearconfigurations, and/or any other gear and/or mechanical configurations(such as wire and pulley) without departing from the teachings of thepresent disclosure. Although the figures illustrate a second armassembly having one shoulder sway drive portion 366 a, one firstshoulder sway driven portion 366 b, one second shoulder sway drivenportion 366 c, one third shoulder sway driven portion 366 d, it is to beunderstood in the present disclosure that the second arm assembly mayhave more than one shoulder sway drive portions 366 a, more than onefirst shoulder sway driven portion 366 b, more than one second shouldersway driven portions 366 c, and/or more than one third shoulder swaydriven portions 366 d without departing from the teachings of thepresent disclosure. Furthermore, it is to be understood in the presentdisclosure that the second arm assembly may or may not have secondshoulder sway driven portion 366 c, and/or may or may not have one ormore additional or other intermediate shoulder sway driven portionsbetween the shoulder sway drive portion 366 a and the third shouldersway driven portion 366 d without departing from the teachings of thepresent disclosure.

Although the figures illustrate the second arm assembly 360 having thefifth integrated motor 362, sixth integrated motor 369, seventhintegrated motor 364, eighth integrated motor 366, elbow pitch driveportion 362 a′, elbow sway drive portion 362 a, shoulder pitch driveportion 364 a, and shoulder sway drive portion 366 a, it is to beunderstood that the second arm assembly 360 may or may not include thefifth integrated motor 362, sixth integrated motor 369, seventhintegrated motor 364, eighth integrated motor 366, elbow pitch driveportion 362 a′, elbow sway drive portion 362 a, shoulder pitch driveportion 364 a, and/or shoulder sway drive portion 366 a, and/or may alsoinclude other integrated motor(s) and/or other drive portions, withoutdeparting from the teachings of the present disclosure. It is also to beunderstood that the fifth integrated motor 362, sixth integrated motor369, seventh integrated motor 364, eighth integrated motor 366, elbowpitch drive portion 362 a′, elbow sway drive portion 362 a, shoulderpitch drive portion 364 a, and/or shoulder sway drive portion 366 a maybe located, in part or in whole, in the first arm assembly 330, secondarm assembly 360, and/or any other location or element of the armassembly 230 without departing from the teachings of the presentdisclosure.

Each of the instrument arm assemblies may be securable to (and unsecuredfrom) the anchor ports 216 of the port assembly 210 via a securingportion 231 a of the shoulder section 231. It is recognized in thepresent disclosure that the instrument arm assembly 230, 240 may besecured to the anchor port 216 of the port assembly 210 in theforward-directed position (e.g., as illustrated in FIGS. 2B, 2D, 3B, and3D) and/or the reverse-directed position (e.g., as illustrated in FIGS.2A, 2C, 3A, and 3C). Furthermore, in example embodiments, the instrumentarm assembly 230, 240 may or may not be transitionable between theforward-directed position and the reverse-directed position. In exampleembodiments where the instrument arm assembly 230, 240 is transitionablebetween the forward-directed position and the reverse-directed position,such transition may be performable before, during, and/or after thesecuring of the shoulder section 231 to the anchor port 216 of the portassembly 210. For example, in such embodiments, the securing portion 231a may be adjustably changed in position relative to the shoulder section231, such as from the forward-directed position illustrated in FIGS. 5Aand 5P to the reverse-directed position illustrated in FIGS. 5B and 5Q,and vice versa.

One or more internal temperature control assemblies (not shown) may beprovided for each of the one or more instrument arm assemblies 230, 240.Each internal temperature control assembly may be operable to control(such as reduce) the temperature and/or heat emission of theaforementioned gears and/or gear assemblies, motors, instrument jointportions (such as 232, 370, 380, 234, 236, and/or 238), and/orinstrument arm segments (such as 231, 360, 330, and/or 340). The one ormore internal temperature control assemblies may also be operable tocontrol (such as increase or decrease) the temperature of the endeffector 239, 342, 344 (which may be desirable when the end effector239, 342, 344 is a cutting tool, or the like). In an example embodiment,the one or more internal temperature control assemblies may be operableto perform such temperature control using one or more gases, liquids,and/or solids. For example, the gases and/or liquids may be fed,maintained, and/or regulated using an external source via one or moretubes, or the like. The one or more tubes used to provide, regulate,and/or discharge the gases and/or liquids may have a diameter betweenabout 0.5 mm to 3 mm in example embodiments, but the dimensions of suchtubes may also be more or less. It is to be understood in the presentdisclosure that the one or more tubes (if used), as well any solids (ifused), may be provided through an interior of the instrument armassembly without increasing dimensions (such as diameter) of theinstrument arm assembly.

When the internal temperature control assembly utilizes gases, or thelike, example embodiments may also be operable to provide such gasesinto the body cavity and/or discharge or recycle such gases outside ofthe body cavity via one or more tubes, or the like. The gases maycomprise carbon dioxide, oxygen, and/or other gases in exampleembodiments. Such gases may be further operable to assist in providingand/or maintaining insufflation of the body cavity, such as via anopening (not shown). When the internal temperature control assemblyutilizes liquids, or the like, example embodiments may be operable todischarge or recycle such liquids outside of the body cavity. When theinternal temperature control assembly utilizes solids, or the like, suchsolids may possess properties that enable the surgical team to changethe temperature of the solids, such as by applying electricity or otherform of energy, so as to control (such as reduce) the temperature and/orheat emission of one or more components of the instrument arm assembly230, 240.

In example embodiments, the internal temperature control assembly mayutilize a combination of gases, liquids, solids, and/or the like withoutdeparting from the teachings of the present disclosure.

After the instrument arm assembly 230, 240 has been inserted andattached (or secured) to the port assembly 210, the end effector orinstrument 239, 342, 344 may be configurable, either manually and/or viathe computing device (or system), to apply between about 0 to 20 N offorce via the integrated motors 332, 334 when performing surgicalactions and procedures, such as clipping and/or grasping actions.Furthermore, the end effector or instrument 239, 342, 344 may beconfigurable, either manually and/or via the computingdevice/controller, to apply between about 0 to 10 N of force via theintegrated motors 332, 334, 336, 339 when performing other surgicalactions and procedures, such as translational, twisting, pulling, and/orpushing actions. It is to be understood in the present disclosure thatthe above range of applicable force are merely an illustration ofexample embodiments, and as such the range of applicable force may besmaller or larger than those recited above without departing from theteachings of the present disclosure.

In an example embodiment, the instrument arm segments, including theshoulder section 231, the second arm assembly 360, the first armassembly 330, and/or the end-effector assembly 340, may be substantiallycylindrical in shape. The instrument arm segments, including theshoulder section 231, the second arm assembly 360, the first armassembly 330, and/or the end-effector assembly 340, may also be formedin any one of a plurality of other shapes, sizes, and/or dimensionswithout departing from the teachings of the present disclosure.

As described above, the instrument arm assembly 230, 240 may alsoinclude one or more securing portions 231 a. The securing portion 231 amay be attachable or attached to the first instrument arm segment 231, apart of the first instrument arm segment 231, and/or formed as a unitaryarticle with the first instrument arm segment 231. Such securingportions 231 a may be for use in securing the instrument arm assembly230, 240 to the anchor ports 216. Such securing portions 231 a may alsobe for use in performing or assisting in performing the process ofinserting the instrument arm assembly 230, 240 into and securing ontothe port assembly 210 in example embodiments.

After the instrument arm assembly 230 is inserted through the portassembly 210 and into the cavity of a patient (such as a vagina orrectum), the securing portion 231 a of the first instrument arm segment(or shoulder section) 231 may be securely received by the anchor port216 of the port assembly 210.

In an example embodiment, the length of the securing portion 231 a maybe between about 350 to 450 mm, the length of the shoulder section 231may be between about 15 to 40 mm, the length of the second arm assembly360 may be between about 80 to 105 mm, the length of the first armassembly 330 may be between about 65 to 90 mm, the length of theend-effector assembly 340 may be between about 5 to 30 mm, and theoverall length of the collective instrument arm may be between about 165to 265 mm. In example embodiments, the length of the securing portion231 a may be between about 340 to 400 mm, the length of the shouldersection 231 may be between about 15 to 25 mm, the length of the secondarm assembly 360 may be between about 90 to 100 mm, the length of thefirst arm assembly 330 may be between about 75 to 85 mm, the length ofthe end-effector assembly 340 may be between about 15 to 25 mm, and theoverall length of the collective instrument arm may be between about 195to 235 mm. In example embodiments, a length of one or more of theinstrument arm segments, the securing portion 231 a, and/or the endeffector or instrument 239, 342, 344 may also be adjustable by thecomputing device (or system) of one or more nearby and/or remotelylocated surgical teams 904 before, during, and/or after insertion of theinstrument arm assembly into the cavity of the patient. The outerdiameter of one or more of the instrument arm segments may be about 10to 16 mm. In an example embodiment, the outer diameter of one or more ofthe instrument arm segments may be about 16 mm.

Each of the instrument arm assemblies, including the securing portion231 a, the shoulder section 231, the second arm assembly 360, the firstarm assembly 330, the instrument assembly 237, the end effector orinstrument 239, 342, 344, the shoulder sway joint portion 380 (or jointportion along axis E), the shoulder pitch joint portion 370 (or jointportion along axis D), the elbow pitch joint portion 350′ (or jointportion along axis C), the elbow sway joint portion 350 (or jointportion along axis C′), the third joint portion 236 (or joint portionalong axis B), and/or the instrument joint 238 (or joint portion alongaxis A), may be formed using any one or more of a plurality ofmaterials, such as surgical-grade metals, high-strength aluminum alloys,stainless steel (such as 304/304L, 316/316L, and 420), pure titanium,titanium alloys (such as Ti6A14V, NiTi), and cobalt-chromium alloys. Itis to be understood in the present disclosure that other materials mayalso be used without departing from the teachings of the presentdisclosure.

Other Example Embodiments of the Instrument Arm Assembly (e.g.,Instrument Arm Assembly 230, 240).

As illustrated in at least FIGS. 11-14, an example embodiment of thesurgical device 200 may include one or more arm assemblies (e.g., firstinstrument arm assembly 230, second instrument arm assembly 240, thirdinstrument arm assembly (not shown), fourth instrument arm assembly (notshown), etc.). Each arm assembly 230, 240 may be configurable to attach(or anchor or secure) to an example embodiment of the port assembly 210(as described above and in the present disclosure). Although somefigures and/or descriptions provided in the present disclosure may bedirected to the first instrument arm assembly 230 and its elements, itis to be understood that such figures and/or descriptions may also applyto other arm assemblies illustrated and/or described above and in thepresent disclosure, including second instrument arm assembly 240, thirdinstrument arm assembly (not shown), fourth instrument arm assembly (notshown), etc. without departing from the teachings of the presentdisclosure.

The arm assembly 230, 240 may include a serially (or linearly) connectedarrangement of arm segments. For example, as illustrated in at least theperspective view of FIG. 11A, the arm assembly 230, 240 may include aforearm segment (e.g., forearm segment 1100), an upper arm segment(e.g., upper arm segment 1140), and a shoulder segment (e.g., shouldersegment 231).

The arm assembly 230, 240 may also include joint portions. For example,as illustrated in at least the perspective view of FIG. 11A and thecross-sectional views of FIG. 11B (which is a cross-sectional view ofthe arm assembly 230, 240 along the Line A illustrated in FIG. 11A) andFIG. 11C (which is a cross-sectional view of the arm assembly 230, 240along the Line B illustrated in FIG. 11A), the arm assembly 230, 240 mayinclude an elbow coupling joint assembly (e.g., elbow coupling jointassembly 1120). The elbow coupling joint assembly 1120 may include adistal elbow joint (e.g., distal elbow joint 1120 a) and a proximalelbow joint (e.g., proximal elbow joint 1120 b). The elbow couplingjoint assembly 1120 may also include a distal elbow joint subassemblycomprising one or more gears for driving the forearm segment 1100 torotate (e.g., pivotally rotate relative to axis C′, as illustrated byDirection C′ in FIG. 11C) relative to the distal elbow joint 1120 a. Theelbow coupling joint assembly 1120 may also include a proximal elbowjoint subassembly comprising one or more gears for driving the distalelbow joint 1120 a (and the forearm segment 1100 attached to the distalelbow joint 1120 a) to rotate (e.g., pivotally rotate relative to axisC, as illustrated by Direction C in FIG. 11B) relative to the proximalelbow joint 1120 b.

In addition to or alternatively, the arm assembly 230, 240 may include ashoulder coupling joint assembly (e.g., shoulder coupling joint assembly1160). The shoulder coupling joint assembly 1160 may include a distalshoulder joint (e.g., distal shoulder joint 1160 a) and a proximalshoulder joint (e.g., proximal shoulder joint 1160 b). The shouldercoupling joint assembly 1160 may also include a distal shoulder jointsubassembly comprising one or more gears for driving the upper armsegment 1140 to rotate (e.g., pivotally rotate relative to axis D, asillustrated by Direction D in FIG. 11C) relative to the distal shoulderjoint 1160 a. The shoulder coupling joint assembly 1160 may also includea proximal shoulder joint subassembly comprising one or more gears fordriving the distal shoulder joint 1160 a (and the upper arm segment 1140attached to the distal shoulder joint 1160 a) to rotate (e.g., pivotallyrotate relative to axis E, as illustrated by Direction E in FIG. 11B)relative to the proximal shoulder joint 1160 b.

The arm assembly 230, 240 may also include an end effector assembly(e.g., end effector assembly 340 as described above and in the presentdisclosure having a wrist assembly and an instrument assembly 237; whichmay include instrument(s) 239 having instrument 342 and/or instrument344) integrated into and/or connected to one or more of the arm segmentsand/or joint portions. The end effector or instrument 239, 342, 344 maybe any instrument suitable for use in surgical procedures, such as acutting and/or gripping instrument.

The arm assembly 230, 240 may also include one or more integratedmotors, including those described above and in the present disclosure.For example, the arm assembly 230, 240 may include integrated motors332, 334, 336, and/or 339 illustrated in at least FIGS. 5E, 5G, 5J, and5K. In addition to or alternatively, the arm assembly 230, 240 mayinclude integrated motors 362, 364, 366, and/or 369 illustrated in atleast FIGS. 5M-O, and 5T-V. In addition to or alternatively, the armassembly 230, 240 may include integrated motors 1142, 1144, 1146, and/or1148 illustrated in at least FIGS. 11B-C, the perspective view of theelbow coupling joint assembly 1120 of FIG. 12A, the perspective view ofthe elbow coupling joint assembly 1120 of FIG. 12D, the perspective viewof the shoulder coupling joint assembly 1160 of FIG. 13A, theperspective view of the shoulder coupling joint assembly 1160 of FIG.13D, and the cross-sectional side view of the elbow coupling jointassembly 1120 FIG. 14D.

As illustrated in at least FIGS. 11B and 11C and described above and inthe present disclosure, each integrated motor may include a driveportion or the like (e.g., drive portion 1142 a for first distal motor1142, drive portion 1144 a for second distal motor 1144, drive portion1146 a for first proximal motor 1146, and drive portion 1148 a forsecond proximal motor 1148) configurable to rotate so as to drive one ormore gears (as further described in the present disclosure) and providefor at least one degree of freedom for the arm assembly 230, 240. Eachintegrated motor may be fully and independently functioning motors thatare housed entirely (with the exception of, for example, power and/orcontrol cables, which may be fed via the port assembly) in an armsegment (e.g., arm segments 1100, 1140, and/or 231).

In the example embodiments illustrated in at least FIGS. 11B and 11C,integrated motors 1142 and 1144 are housed in upper arm segment 1140,and are used to drive the elbow coupling joint assembly 1120. Inparticular, first distal motor 1142 is configurable to drive the distalelbow joint 1120 a via the distal elbow joint subassembly (as furtherdescribed in the present disclosure). Furthermore, second distal motor1144 is configurable to drive the proximal elbow joint 1120 b via theproximal elbow joint subassembly (as further described in the presentdisclosure).

Furthermore, integrated motors 1146 and 1148 are housed in upper armsegment 1140, and are used to drive the shoulder coupling joint assembly1160. In particular, second proximal motor 1148 is configurable to drivethe proximal shoulder joint 1160 b via the proximal shoulder jointsubassembly (as further described in the present disclosure).Furthermore, first proximal motor 1146 is configurable to drive thedistal shoulder joint 1160 a via the distal shoulder joint subassembly(as further described in the present disclosure).

One or more of the arm assemblies 230, 240 may also include anintegrated haptic and/or force feedback subsystem (not shown) incommunication with one or more of the integrated motors and/or othersensors and/or instruments operable to provide to the surgical team(such as via computing device/controller) with one or more of aplurality of feedback responses and/or measurements, including thosepertaining to position (including orientation), applied force,proximity, temperature, pressure, humidity, etc., of, by, and/or nearbyto the instrument arm assembly. For example, the surgical team 904 maybe provided with a master input device having manipulators, or the like,having haptic and/or force feedback and designed to map and sense thesurgical team's 904 delicate finger-twisting, wrist-bending, and/orother arm/shoulder movements into movements of the instrument arm (suchas 230, 240) with high precision, high dexterity, and minimum burden,while also providing feedback of contact resistance (such as tissueresistance).

These and other elements of the arm assembly 230, 240 will now befurther described with reference to the figures.

End Effector Assembly (e.g., End Effector Assembly 340).

In an example embodiment, the arm assembly 230, 240 may include an endeffector assembly (e.g., end effector assembly 340). As described aboveand in the present disclosure, the end effector assembly 340 may includea wrist assembly and an instrument assembly 237. The instrument assembly237 may include one or more instruments 239. As illustrated in at leastFIGS. 5D-H, each instrument 239 may include instrument 342 and/orinstrument 344. The end effector or instrument 239, 342, 344 may be anyinstrument suitable for use in surgical procedures, such as a cuttingand/or gripping instrument.

Forearm Segment (e.g., Forearm Segment 1100).

An example embodiment of the forearm segment 1100 is illustrated in atleast FIGS. 11A-C. The forearm segment 1100 may be securable to theend-effector assembly 340. In an example embodiment, the arm assembly230 may be securable to and unsecurable from (e.g., detached) theend-effector assembly 340. The forearm segment 1100 may include a distalend 1100 a and a proximal end 1100 b. The distal elbow joint 1120 a maybe secured to the proximal end 1100 a and the end-effector assembly 340may be secured to the distal end 1100 b.

In an example embodiment, the forearm segment 1100 may be similar to orthe same as the first arm assembly 330 described above and in thepresent disclosure. For example, the forearm segment 1100 may includethe first integrated motor 332, second integrated motor 334, thirdintegrated motor 336, fourth integrated motor 339, first instrumentdrive portion 332 a, second instrument drive portion 334 a, wrist driveportion 336 a, and/or first arm assembly drive portion 339 a. It is tobe understood that the forearm segment 1100 may (or may not) include thefirst integrated motor 332, second integrated motor 334, thirdintegrated motor 336, fourth integrated 339, first instrument driveportion 332 a, second instrument drive portion 334 a, wrist driveportion 336 a, and/or first arm assembly drive portion 339 a, and/or mayalso include other integrated motor(s) and/or other drive portions,without departing from the teachings of the present disclosure.

Upper Arm Segment (e.g., Upper Arm Segment 1140).

An example embodiment of the upper arm segment 1140 is illustrated in atleast FIGS. 11A-C. The upper arm assembly 1140 may include a distal end1140 a and a proximal end 1140 b. The proximal elbow joint 1120 b may besecured to the proximal end 1140 a and the distal shoulder joint 1160 amay be secured to the distal end 1140 b.

In an example embodiment, the upper arm segment 1140 may securely housethe first distal motor (e.g., first distal motor 1142). The first distalmotor 1142 may include a first distal motor drive portion (e.g., firstdistal motor drive portion 1142 a). The first distal motor drive portion1142 a may be provided at or near the distal end 1140 a of the upper armsegment 1140. The first distal motor drive portion 1142 a may becontrollable by the first distal motor 1142 to drive the distal elbowjoint subassembly (as further described in the present disclosure, whichmay include first distal elbow bevel gear 1124 a, second distal elbowbevel gear 1125 a, third distal elbow bevel gear 1126 a, first distalelbow spur gear 1128 a, second distal elbow spur gear 1129 a, fourthdistal elbow bevel gear 1131 a, fifth distal elbow bevel gear 1132 a,and/or distal elbow planetary gear assembly 1133 a) so as to rotate theforearm segment 1100 relative to the distal elbow joint 1120 a (e.g.,rotate in Direction C′ relative to axis C′, as illustrated in at leastFIG. 11C).

The upper arm segment 1140 may also securely house the second distalmotor (e.g., second distal motor 1144). The second distal motor 1144 mayinclude a second distal motor drive portion (e.g., second distal motordrive portion 1144 a). The second distal motor drive portion 1144 a maybe provided at or near the distal end 1140 a of the upper arm segment1140. The second distal motor drive portion 1144 a may be controllableby the second distal motor 1144 to drive the proximal elbow jointsubassembly (as further described in the present disclosure, which mayinclude first proximal elbow bevel gear 1122 b, second proximal elbowbevel gear 1123 b, and/or proximal elbow planetary gear assembly 1124 b)so as to rotate the distal elbow joint 1120 a (and the forearm segment1100 attached to the distal elbow joint 1120 a) relative to the proximalelbow joint 1120 b (e.g., rotate in Direction C relative to axis C, asillustrated in at least FIG. 11B).

The upper arm segment 1140 may also securely house the first proximalmotor (e.g., first proximal motor 1146). The first proximal motor 1146may include a first proximal motor drive portion (e.g., first proximalmotor drive portion 1146 a). The first proximal motor drive portion 1146a may be provided at or near the proximal end 1140 b of the upper armsegment 1140. The first proximal motor drive portion 1146 a may becontrollable by the first proximal motor 1146 to drive the distalshoulder joint subassembly (as further described in the presentdisclosure, which may include first distal shoulder bevel gear 1168 a,second distal shoulder bevel gear 1169 a, and/or distal shoulderplanetary gear assembly 1170 a) so as to rotate the upper arm segment1140 relative to the distal shoulder joint 1160 a (e.g., rotate inDirection D relative to axis D, as illustrated in at least FIG. 11C).

The upper arm segment 1140 may also securely house the second proximalmotor (e.g., second proximal motor 1148). The second proximal motor 1148may include a second proximal motor drive portion (e.g., second proximalmotor drive portion 1148 a). The second proximal motor drive portion1148 a may be provided at or near the proximal end 1140 b of the upperarm segment 1140. The second proximal motor drive portion 1148 a may becontrollable by the second proximal motor 1148 to drive the proximalshoulder joint subassembly (as further described in the presentdisclosure, which may include first proximal shoulder bevel gear 1163 b,second proximal shoulder bevel gear 1164 b, third proximal shoulderbevel gear 1165 b, first proximal shoulder spur gear 1167 b, thirdproximal shoulder spur gear 1169 b, fourth proximal shoulder bevel gear1171 b, fifth proximal shoulder bevel gear 1172 b, and/or proximalshoulder planetary gear assembly 1173 b) so as to rotate the distalshoulder joint 1160 a (and the upper arm segment 1140 attached to thedistal shoulder joint 1160 a) relative to the proximal shoulder joint1160 b (e.g., rotate in Direction E relative to axis E, as illustratedin at least FIG. 11B).

Although the figures illustrate the upper arm assembly 1140 having thefirst distal motor 1142, second distal motor 1144, first proximal motor1146, second proximal motor 1148, first distal motor drive portion 1142a, second distal motor drive portion 1144 a, first proximal motor driveportion 1146 a, and second proximal motor drive portion 1148 a, it is tobe understood that the upper arm assembly 1140 may (or may not) includethe first distal motor 1142, second distal motor 1144, first proximalmotor 1146, second proximal motor 1148, first distal motor drive portion1142 a, second distal motor drive portion 1144 a, first proximal motordrive portion 1146 a, and/or second proximal motor drive portion 1148 a,and/or may also include other integrated motor(s) and/or other driveportions, without departing from the teachings of the presentdisclosure. It is also to be understood that the first distal motor1142, second distal motor 1144, first proximal motor 1146, secondproximal motor 1148, first distal motor drive portion 1142 a, seconddistal motor drive portion 1144 a, first proximal motor drive portion1146 a, and second proximal motor drive portion 1148 a may be located,in part or in whole, in the upper arm assembly 1140, forearm assembly1100, and/or any other location or element of the arm assembly 230, 240without departing from the teachings of the present disclosure.

Elbow Coupling Joint Assembly (e.g., Elbow Coupling Joint Assembly1120).

As illustrated in FIGS. 12A and 12D, the side views of FIG. 14A and FIG.14C, and the cross-sectional side views of FIG. 14B and FIG. 14D, anexample embodiment of the arm assembly 230, 240 may include an elbowcoupling joint assembly (e.g., elbow coupling joint assembly 1120). Theelbow coupling joint assembly 1120 may include a distal elbow joint 1120a and a proximal elbow joint 1120 b.

The distal elbow joint 1120 a may have an axis of rotation C′, asillustrated in at least FIGS. 11B, 11C, 12A, 12D, and 14A-D. The distalelbow joint 1120 a may be configured to enable the forearm segment 1100to rotate (or pivotally rotate) relative to axis C′. Put differently,the distal elbow joint 1120 a may be configured to enable the forearmsegment 1100 to rotate (or pivotally rotate) relative to the distalelbow joint 1120 a. As further described below and in the presentdisclosure, such rotation relative to axis C′ may be driven by the firstdistal motor 1142 and distal elbow joint subassembly.

The proximal elbow joint 1120 b may have an axis of rotation C, asillustrated in at least FIGS. 11B, 11C, 12A, 12D, and 14A-D. Theproximal elbow joint 1120 b may be configured to enable the distal elbowjoint 1120 a (and the forearm segment 1100 attached to the distal elbowjoint 1120 a) to rotate (or pivotally rotate) relative to axis C. Putdifferently, the proximal elbow joint 1120 b may be configured to enablethe distal elbow joint 1120 a (and the forearm segment 1100 attached tothe distal elbow joint 1120 a) to rotate (or pivotally rotate) relativeto the proximal elbow joint 1120 b.

Put differently, the proximal elbow joint 1120 b may be configured toenable the forearm segment 1100 to rotate (or pivotally rotate) relativeto the proximal elbow joint 1120 b. The rotational axis C of proximalelbow joint 1120 b may not be parallel to the rotational axis C′ of thedistal elbow joint 1120 a. For example, the rotational axis C ofproximal elbow joint 1120 b may be orthogonal to the rotational axis C′of the distal elbow joint 1120 a. As further described below and in thepresent disclosure, such rotation relative to axis C may be driven bythe second distal motor 1144 and proximal elbow joint subassembly.

(i) The Distal Elbow Joint Subassembly.

In an example embodiment, the first distal motor 1142 may drive thedistal elbow joint subassembly so as to cause the forearm segment 1100to rotate (or pivotally rotate) relative to the distal elbow joint 1120a (or relative to axis C′, as depicted by the Direction C′ illustratedin FIG. 11C). As illustrated in at least FIGS. 11B, 11C, 12A, 12D, and14A-D, the distal elbow joint subassembly includes a plurality of gears.More specifically, the distal elbow joint subassembly includes a geartrain system having a plurality of gear stages.

The distal elbow joint subassembly may include a first distal elbow gearstage. The first distal elbow gear stage may include a first distalelbow bevel gear (e.g., first distal elbow bevel gear 1124 a, asillustrated in at least FIGS. 12A, 12D, 14A, 14C, and 14D). The distalelbow joint subassembly may also include one or more gears between thefirst distal motor drive portion 1142 a and the first distal elbow bevelgear 1124 a, such as one or more spur gears 1121 a, 1122 a (asillustrated in FIGS. 12A and 12D). The distal elbow joint subassemblymay also include one or more connectors or the like between the firstdistal motor drive portion 1142 a and the first distal elbow bevel gear1124 a, such as connector 1123 a (as illustrated in at least FIGS. 12Aand 12D).

Alternatively, as illustrated in at least FIGS. 14A and 14C, the firstdistal elbow bevel gear 1124 a may be configured so as to be drivendirectly by the first distal motor drive portion 1142 a in exampleembodiments (e.g., without the one or more spur gears 1121 a, 1122 a),which is recognized in the present disclosure to enable a reduction intotal length of the arm assembly 230, 240.

The first distal elbow gear stage may also include a second distal elbowbevel gear (e.g., second distal elbow bevel gear 1125 a, as illustratedin at least FIGS. 12A, 12D, 14A, 14C, and 14D). The second distal elbowbevel gear 1125 a may be drivable by the first distal elbow bevel gear1124 a so as to rotate relative to axis C (the second distal elbow bevelgear 1125 a may have a central axis of rotation corresponding to axisC).

A gear ratio between the first distal elbow bevel gear 1124 a and thesecond distal elbow bevel gear 1125 a may be between about 1:2 to 1:5(e.g., 1:3).

The first distal elbow gear stage may also include a third distal elbowbevel gear (e.g., third distal elbow bevel gear 1126 a, as illustratedin at least FIGS. 12A, 12D, 14A, 14C, and 14D). The third distal elbowbevel gear 1126 a may be drivable by the second distal elbow bevel gear1125 a so as to rotate.

A gear ratio between the second distal elbow bevel gear 1125 a and thethird distal elbow bevel gear 1126 a may be between about 2:1 to 5:1(e.g., 3:1).

The distal elbow joint subassembly may include a second distal elbowgear stage. The second distal elbow gear stage may include a firstdistal elbow spur gear (e.g., first distal elbow spur gear 1128 a, asillustrated in at least FIGS. 12A, 12D, 14A, 14C, and 14D). The distalelbow joint subassembly may also include one or more connectors betweenthe third distal elbow bevel gear 1126 a and the first distal elbow spurgear 1128 a, such as connector 1127 a (as illustrated in at least FIGS.12A and 12D).

Alternatively, as illustrated in at least FIGS. 14A and 14C, the firstdistal elbow spur gear 1128 a may be directly coupled (or connected orsecured) to the third distal elbow bevel gear 1126 a in exampleembodiments, which is recognized in the present disclosure to enable areduction in total length of the arm assembly 230, 240.

The second distal elbow gear stage may also include a second distalelbow spur gear (e.g., second distal elbow spur gear 1129 a, asillustrated in at least FIGS. 12A, 14C, and 14D). The second distalelbow spur gear 1129 a may be drivable by the first distal elbow spurgear 1128 a so as to rotate.

A gear ratio between the first distal elbow spur gear 1128 a and thesecond distal elbow spur gear 1129 a may be between about 1:1 to 1:4(e.g., 1:2).

The distal elbow joint subassembly may include a third distal elbow gearstage. The third distal elbow gear stage may include a fourth distalelbow bevel gear (e.g., fourth distal elbow bevel gear 1131 a, asillustrated in at least FIGS. 12A, 14A, 14B, 14C, and 14D). The distalelbow joint subassembly may also include one or more connectors or thelike between the second distal elbow spur gear 1129 a and the fourthdistal elbow bevel gear 1131 a, such as connector 1130 a (as illustratedin at least FIG. 12A).

Alternatively, as illustrated in at least FIGS. 14B-D, the fourth distalelbow bevel gear 1131 a may be directly coupled (or connected orsecured) to the second distal elbow spur gear 1129 a in exampleembodiments, which is recognized in the present disclosure to enable areduction in total length of the arm assembly 230, 240.

The third distal elbow gear stage may also include a fifth distal elbowbevel gear (e.g., fifth distal elbow bevel gear 1132 a, as illustratedin at least FIGS. 12A and 14A-D). The fifth distal elbow bevel gear 1132a may be drivable by the fourth distal elbow bevel gear 1131 a so as torotate relative to axis C′ (the fifth distal elbow bevel gear 1132 a mayhave a central axis of rotation corresponding to axis C′).

A gear ratio between the fourth distal elbow bevel gear 1131 a and thefifth distal elbow bevel gear 1132 a may be between about 1:2 to 1:5(e.g., 1:3).

The distal elbow joint subassembly may include a fourth distal elbowgear stage. The fourth distal elbow gear stage may include a distalelbow planetary gear assembly (e.g., distal elbow planetary gearassembly 1133 a, as illustrated in at least FIGS. 11C, 12A, and 14A).The distal elbow joint subassembly may also include one or moreconnectors or the like (e.g., connector portion 1134 a) and/or the fifthdistal elbow bevel gear 1132 a and/or distal elbow sun gear 1133 aa mayhave an extended portion between the fifth distal elbow bevel gear 1132a and the distal elbow planetary gear assembly 1133 a, which isrecognized in the present disclosure to enable improved spacing forcabling to pass through the elbow coupling joint assembly 1120 (e.g.,pass through between the fifth distal elbow bevel gear 1132 a and thedistal elbow planetary gear assembly 1133 a).

Alternatively, as illustrated in at least FIGS. 11B and 12A, the fifthdistal elbow bevel gear 1132 a may be directly coupled (or connected orsecured) to the distal elbow planetary gear assembly 1133 a (i.e., thefifth distal elbow bevel gear 1132 a directly coupled or connected orsecured to distal elbow sun gear 1133 aa) in example embodiments.

FIG. 12B illustrates a side view and FIG. 12C illustrates an explodedperspective view of an example embodiment of the distal elbow planetarygear assembly 1133 a. The distal elbow planetary gear assembly 1133 amay have a central axis corresponding to axis C′. The distal elbowplanetary gear assembly 1133 a may include a distal elbow sun gear 1133aa. The distal elbow sun gear 1133 aa may be drivable by the fifthdistal elbow bevel gear 1132 a so as to rotate relative to axis C′. Thedistal elbow sun gear 1133 aa and/or the fifth distal elbow bevel gear1132 a may include an extended portion (not shown) so as to enable aspacing between the each other and allow for cabling to run through suchspacing.

The distal elbow planetary gear assembly 1133 a may also include aplurality of distal elbow planetary (or planet) gears 1133 ab. Forexample, the distal elbow planetary gear assembly 1133 a may include 4or more distal elbow planetary gears 1133 ab. Each of the distal elbowplanetary gears 1133 ab may be configured to rotate relative to itscentral axis. The distal elbow planetary gears 1133 ab may be drivableby the distal elbow sun gear 1133 aa to collectively rotate around axisC′.

The distal elbow planetary gear assembly 1133 a may also include adistal elbow ring gear 1133 ac. The distal elbow ring gear 1133 ac maybe fixed or locked from rotating relative to axis C′ in exampleembodiments so as to enable the plurality of distal elbow planetarygears 1133 ab to collectively rotate around axis C′.

The distal elbow planetary gear assembly 1133 a may also include adistal elbow planetary gear carrier 1133 ad. The distal elbow planetarygear carrier 1133 ad may have a plurality of first ends 1133 ad′connected to plurality of distal elbow planetary gears 1133 ab. Thedistal elbow planetary gear carrier 1133 ad may also have a second end1133 ad″ connected to a portion of the distal end 1100 b of the forearmsegment 1100.

In this regard, when the distal elbow sun gear 1133 aa is driven by thefifth distal elbow bevel gear 1132 a to rotate relative to axis C′, thedistal elbow sun gear 1133 aa in turn drives the plurality of distalelbow planetary gears 1133 ab to collectively rotate relative to axisC′. Such collective rotation of the plurality of distal elbow planetarygears 1133 ab around axis C′ in turn drives the distal elbow planetarygear carrier 1133 ad to rotate relative to axis C′ (via the connectionbetween the first ends 1133 ad′ of the distal elbow planetary gearcarrier 1133 ad and the plurality of distal elbow planetary gears 1133ab). Such rotation of the distal elbow planetary gear carrier 1133 adaround axis C′ in turn drives the forearm segment 1100 to rotate (orpivotally rotate) relative to axis C′ (e.g., in the Direction C′, asillustrated in at least FIG. 11C) (via the connection between the secondend 1133 ad″ of the distal elbow planetary gear carrier 1133 ad and thedistal end 1100 b of the forearm segment 1100).

A gear ratio between the fifth distal elbow bevel gear 1132 a and thedistal elbow planetary gear assembly 1133 a may be between about 1:2 to1:8 (e.g., 1:5).

Accordingly, the forearm segment 1100 may be driven to rotate (orpivotally rotate) relative to axis C′ (or rotate relative to the distalelbow joint 1120 a) by driving the first distal motor 1142, which inturn drives the first distal elbow gear stage (which includes the firstdistal elbow bevel gear 1124 a, the second distal elbow bevel gear 1125a, the third distal elbow bevel gear 1126 a), which in turn drives thesecond distal elbow gear stage (which includes the first distal elbowspur gear 1128 a and the second distal elbow spur gear 1129 a), which inturn drives the third distal elbow gear stage (which includes the fourthdistal elbow bevel gear 1131 a and the fifth distal elbow bevel gear1132 a), which in turn drives the fourth distal elbow gear stage (whichincludes the distal elbow planetary gear assembly 1133 a having thedistal elbow sun gear 1133 aa, the distal elbow planetary gears 1133 ab,the distal elbow ring gear 1133 ac, and the distal elbow planetary gearcarrier 1133 ad), which in turn drives the forearm segment 1100 torotate relative to axis C′.

A gear or magnification ratio for the distal elbow joint assembly may bebetween about 1:20 to 1:50 (e.g., 1:30).

The distal elbow joint assembly may be or include any other gearconfiguration for driving the forearm segment 1100, including thosedescribed in the present disclosure. For example, the distal elbow jointassembly may include any one or more configurations or combinations ofgears and/or gear assemblies, including straight gear configurations,planetary gear configurations, beveled gear configurations, spiralbeveled gear configurations, hypoid gear configurations, helical gearconfigurations, worm gear configurations, and/or any other gear and/ormechanical configurations (such as wire and pulley) without departingfrom the teachings of the present disclosure.

(ii) The Proximal Elbow Joint Subassembly.

In an example embodiment, the second distal motor 1144 may drive theproximal elbow joint subassembly so as to cause the distal elbow joint1120 a (and the forearm segment 1100 attached to the distal elbow joint1120 a) to rotate (or pivotally rotate) relative to the proximal elbowjoint 1120 b (or relative to axis C, as depicted by the Direction Cillustrated in FIG. 11B).

Put differently, the second distal motor 1144 may drive the proximalelbow joint subassembly so as to cause the forearm segment 1100 (whichis attached to the distal elbow joint 1120 a) to rotate (or pivotallyrotate) relative to the proximal elbow joint 1120 b (or relative to axisC, as depicted by the Direction C illustrated in FIG. 11B). Asillustrated in at least FIGS. 11B, 11C, 12A, 12D, and 14A-D, theproximal elbow joint subassembly includes a plurality of gears. Morespecifically, the proximal elbow joint subassembly includes a gear trainsystem having a plurality of gear stages.

The proximal elbow joint subassembly may include a first proximal elbowgear stage. The first proximal elbow gear stage may include a firstproximal elbow bevel gear (e.g., first proximal elbow bevel gear 1122 b,as illustrated in at least FIGS. 12D, 14C, and 14D). The proximal elbowjoint subassembly may also include one or more gears between the seconddistal motor drive portion 1144 a and the first proximal elbow bevelgear 1122 b, such as one or more spur gears (not shown). The proximalelbow joint subassembly may also include one or more connectors or thelike between the second distal motor drive portion 1144 a and the firstproximal elbow bevel gear 1122 b, such as connector 1121 b (asillustrated in at least FIG. 12D).

Alternatively, as illustrated in at least FIGS. 14C and 14D, the firstproximal elbow bevel gear 1122 b may be configured so as to be drivendirectly by the second distal motor drive portion 1144 a in exampleembodiments (as shown in at least FIGS. 14C and 14D), which isrecognized in the present disclosure to enable a reduction in totallength of the arm assembly 230, 240.

The first proximal elbow gear stage may also include a second proximalelbow bevel gear (e.g., second proximal elbow bevel gear 1123 b, asillustrated in at least FIGS. 12D, 14C, and 14D). The second proximalelbow bevel gear 1123 b may be drivable by the first proximal elbowbevel gear 1122 b so as to rotate relative to axis C (the secondproximal elbow bevel gear 1123 b may have a central axis of rotationcorresponding to axis C).

A gear ratio between the first proximal elbow bevel gear 1122 b and thesecond proximal elbow bevel gear 1123 b may be between about 1:2 to 1:5(e.g., 1:3).

The proximal elbow joint subassembly may include a second proximal elbowgear stage. The second proximal elbow gear stage may include a proximalelbow planetary gear assembly (e.g., proximal elbow planetary gearassembly 1124 b, as illustrated in at least FIGS. 11B, 12D, and 14C).The proximal elbow joint subassembly may also include one or moreconnectors (not shown) and/or the second proximal elbow bevel gear 1123b and/or proximal elbow sun gear 1124 ba may have an extended portionbetween the second proximal elbow bevel gear 1123 b and the proximalelbow planetary gear assembly 1124 b (not shown), which is recognized inthe present disclosure to enable improved spacing for cabling to passthrough the elbow coupling joint assembly 1120 (e.g., pass throughbetween the second proximal elbow bevel gear 1123 b and the proximalelbow planetary gear assembly 1124 b).

Alternatively, as illustrated in at least FIGS. 11C, 12D, and 14C, thesecond proximal elbow bevel gear 1123 b may be directly coupled (orconnected or secured) to the proximal elbow planetary gear assembly 1124b (i.e., the second proximal elbow bevel gear 1123 b directly coupled orconnected or secured to proximal elbow sun gear 1124 ba) in exampleembodiments.

FIG. 12E illustrates a side view and FIG. 12F illustrates an explodedperspective view of an example embodiment of the proximal elbowplanetary gear assembly 1124 b. The proximal elbow planetary gearassembly 1124 b may have a central axis corresponding to axis C. Theproximal elbow planetary gear assembly 1124 b may include a proximalelbow sun gear 1124 ba. The proximal elbow sun gear 1124 ba may bedrivable by the second proximal elbow bevel gear 1123 b so as to rotaterelative to axis C. The proximal elbow sun gear 1124 ba and/or thesecond proximal elbow bevel gear 1123 b may include an extended portionso as to enable a spacing between the each other and allow for cablingto run through such spacing.

The proximal elbow planetary gear assembly 1124 b may also include aplurality of proximal elbow planetary (or planet) gears 1124 bb. Forexample, the proximal elbow planetary gear assembly 1124 b may include 4or more proximal elbow planetary gears 1124 bb. Each of the proximalelbow planetary gears 1124 bb may be configured to rotate relative toits central axis. The proximal elbow planetary gears 1124 bb may bedrivable by the proximal elbow sun gear 1124 ba to collectively rotatearound axis C.

The proximal elbow planetary gear assembly 1124 b may also include aproximal elbow ring gear 1124 bc. The proximal elbow ring gear 1124 bcmay be fixed or locked from rotating relative to axis C in exampleembodiments so as to enable the plurality of proximal elbow planetarygears 1124 bb to collectively rotate around axis C.

The proximal elbow planetary gear assembly 1124 b may also include aproximal elbow planetary gear carrier 1124 bd. The proximal elbowplanetary gear carrier 1124 bd may have a plurality of first ends 1124bd′ connected to the plurality of proximal elbow planetary gears 1124bb. The proximal elbow planetary gear carrier 1124 bd may also have asecond end 1124 bd″ connected to a portion of a proximal end of thedistal elbow joint 1120 a.

In this regard, when the proximal elbow sun gear 1124 ba is driven bythe second proximal elbow bevel gear 1123 b to rotate relative to axisC, the proximal elbow sun gear 1124 ba in turn drives the plurality ofproximal elbow planetary gears 1124 bb to collectively rotate relativeto axis C. Such collective rotation of the plurality of proximal elbowplanetary gears 1124 bb around axis C in turn drives the proximal elbowplanetary gear carrier 1124 bd to rotate relative to axis C (via theconnection between the first ends 1124 bd′ of the proximal elbowplanetary gear carrier 1124 bd and the plurality of proximal elbowplanetary gears 1124 bb). Such rotation of the proximal elbow planetarygear carrier 1124 bd around axis C in turn drives the distal elbow joint1120 a to rotate (or pivotally rotate) relative to axis C (e.g., in theDirection C, as illustrated in at least FIG. 11B) (via the connectionbetween the second end 1124 bd″ of the proximal elbow planetary gearcarrier 1124 bd and the proximal end of the distal elbow joint 1120 a).

A gear ratio between the second proximal elbow bevel gear 1123 b and theproximal elbow planetary gear assembly 1124 b may be between about 1:2to 1:8 (e.g., 1:5).

Accordingly, distal elbow joint 1120 a (and the forearm segment 1100attached to the distal elbow joint 1120 a) may be driven to rotate (orpivotally rotate) relative to axis C (or rotate relative to the proximalelbow joint 1120 b) by driving the second distal motor 1144, which inturn drives the first proximal elbow gear stage (which includes thefirst proximal elbow bevel gear 1122 b and the second proximal elbowbevel gear 1123 b), which in turn drives the second proximal elbow gearstage (which includes the proximal elbow planetary gear assembly 1124 bhaving the proximal elbow sun gear 1124 ba, the proximal elbow planetarygears 1124 bb, the proximal elbow ring gear 1124 bc, and the proximalelbow planetary gear carrier 1124 bd), which in turn drives the distalelbow joint 1120 a (and the forearm segment 1100 attached to the distalelbow joint 1120 a) to rotate relative to axis C.

Put differently, the forearm segment 1100 (which is attached to thedistal elbow joint 1120 a) may be driven to rotate (or pivotally rotate)relative to axis C (or rotate relative to the proximal elbow joint 1120b) by driving the second distal motor 1144, which in turn drives thefirst proximal elbow gear stage (which includes the first proximal elbowbevel gear 1122 b and the second proximal elbow bevel gear 1123 b),which in turn drives the second proximal elbow gear stage (whichincludes the proximal elbow planetary gear assembly 1124 b having theproximal elbow sun gear 1124 ba, the proximal elbow planetary gears 1124bb, the proximal elbow ring gear 1124 bc, and the proximal elbowplanetary gear carrier 1124 bd), which in turn drives the forearmsegment 1100 (which is attached to the distal elbow joint 1120 a) torotate relative to axis C.

A gear or magnification ratio for the proximal elbow joint assembly maybe between about 1:10 to 1:30 (e.g., 1:20).

The proximal elbow joint assembly may be or include any other gearconfiguration for driving the forearm segment 1100, including thosedescribed in the present disclosure. For example, the proximal elbowjoint assembly may include any one or more configurations orcombinations of gears and/or gear assemblies, including straight gearconfigurations, planetary gear configurations, beveled gearconfigurations, spiral beveled gear configurations, hypoid gearconfigurations, helical gear configurations, worm gear configurations,and/or any other gear and/or mechanical configurations (such as wire andpulley) without departing from the teachings of the present disclosure.

Shoulder Coupling Joint Assembly (e.g., Shoulder Coupling Joint Assembly1160).

As illustrated in FIGS. 13A and 13D, the side views of FIG. 15A and FIG.15C, and the cross-sectional side views of FIG. 15B and FIG. 15D, anexample embodiment of the arm assembly 230, 240 may include a shouldercoupling joint assembly (e.g., shoulder coupling joint assembly 1160).The shoulder coupling joint assembly 1160 may include a distal shoulderjoint 1160 a and a proximal shoulder joint 1160 b.

The distal shoulder joint 1160 a may have an axis of rotation D, asillustrated in at least FIGS. 11B, 11C, 13A, 13D, and 15A-D. The distalshoulder joint 1160 a may be configured to enable the upper arm segment1140 to rotate (or pivotally rotate) relative to axis D. Putdifferently, the distal shoulder joint 1160 a may be configured toenable the upper arm segment 1140 to rotate (or pivotally rotate)relative to the distal shoulder joint 1160 a. As further described belowand in the present disclosure, such rotation relative to axis D may bedriven by the first proximal motor 1146 and distal shoulder jointsubassembly.

The proximal shoulder joint 1160 b may have an axis of rotation E, asillustrated in at least FIGS. 11B, 11C, 13A, 13D, and 15A-D. Theproximal shoulder joint 1160 b may be configured to enable the distalshoulder joint 1160 a (and the upper arm segment 1140 attached to thedistal shoulder joint 1160 a) to rotate (or pivotally rotate) relativeto axis E. Put differently, the proximal shoulder joint 1160 b may beconfigured to enable the distal shoulder joint 1160 a (and the upper armsegment 1140 attached to the distal shoulder joint 1160 a) to rotate (orpivotally rotate) relative to the proximal shoulder joint 1160 b.

Put differently, the proximal shoulder joint 1160 b may be configured toenable the upper arm segment 1140 to rotate (or pivotally rotate)relative to the proximal shoulder joint 1160 b. The rotational axis E ofproximal shoulder joint 1160 b may not be parallel to the rotationalaxis D of the distal shoulder joint 1160 a. For example, the rotationalaxis E of proximal shoulder joint 1160 b may be orthogonal to therotational axis D of the distal shoulder joint 1160 a. As furtherdescribed below and in the present disclosure, such rotation relative toaxis E may be driven by the second proximal motor 1148 and proximalshoulder joint subassembly.

(i) The Distal Shoulder Joint Subassembly.

In an example embodiment, the first proximal motor 1146 may drive thedistal shoulder joint subassembly so as to cause the upper arm segment1140 to rotate (or pivotally rotate) relative to the distal shoulderjoint 1160 a (or relative to axis D, as depicted by the Direction Dillustrated in FIG. 11C). As illustrated in at least FIGS. 11B, 11C,13A, 13D, and 15A-D, the distal shoulder joint subassembly includes aplurality of gears. More specifically, the distal shoulder jointsubassembly includes a gear train system having a plurality of gearstages.

The distal shoulder joint subassembly may include a first distalshoulder gear stage. The first distal shoulder gear stage may include afirst distal shoulder bevel gear (e.g., first distal shoulder bevel gear1168 a, as illustrated in at least FIGS. 13A, 13D, 15C, and 15D). Thedistal shoulder joint subassembly may also include one or more gearsbetween the first proximal motor drive portion 1146 a and the firstdistal shoulder bevel gear 1168 a, such as one or more spur gears 1164a, 1165 a, 1166 a. Alternatively, the distal shoulder joint subassemblymay be configured in such a way that the first proximal motor driveportion 1146 a directly drives the first distal shoulder bevel gear 1168a (e.g., without the one or more spur gears 1164 a, 1165 a, and 1166 a).The distal shoulder joint subassembly may also include one or moreconnectors or the like between the first proximal motor drive portion1146 a and the first distal shoulder bevel gear 1168 a, such asconnector 1162 a, 1163 a, 1167 a (as illustrated in at least FIG. 13D).

Alternatively, as illustrated in at least FIGS. 15C and 15D, the firstdistal shoulder bevel gear 1168 a may be configured so as to be drivenmore directly by the first proximal motor drive portion 1146 a inexample embodiments, which is recognized in the present disclosure toenable a reduction in total length of the arm assembly 230, 240. Forexample, spur gear 1166 a may be directly coupled to first distalshoulder bevel gear 1168 a (e.g., without connector 1167 a), asillustrated in at least FIG. 15C.

The first distal shoulder gear stage may also include a second distalshoulder bevel gear (e.g., second distal shoulder bevel gear 1169 a, asillustrated in at least FIGS. 13D, 15C, and 15D). The second distalshoulder bevel gear 1169 a may be drivable by the first distal shoulderbevel gear 1168 a so as to rotate relative to axis D (the second distalshoulder bevel gear 1169 a may have a central axis of rotationcorresponding to axis D).

A gear ratio between the first distal shoulder bevel gear 1168 a and thesecond distal shoulder bevel gear 1169 a may be between about 1:2 to 1:5(e.g., 1:3).

The distal shoulder joint subassembly may include a second distalshoulder gear stage. The second distal shoulder gear stage may include adistal shoulder planetary gear assembly (e.g., distal shoulder planetarygear assembly 1170 a, as illustrated in at least FIGS. 11C, 13D, and15C). The distal shoulder joint subassembly may also include one or moreconnectors (not shown) and/or the second distal shoulder bevel gear 1169a and/or distal shoulder sun gear 1170 aa may have an extended portion(not shown) between the second distal shoulder bevel gear 1169 a and thedistal shoulder planetary gear assembly 1170 a, which is recognized inthe present disclosure to enable improved spacing for cabling to passthrough the shoulder coupling joint assembly 1160 (e.g., pass throughbetween the second distal shoulder bevel gear 1169 a and the distalshoulder planetary gear assembly 1170 a).

Alternatively, as illustrated in at least FIGS. 11B, 13D, and 15C, thesecond distal shoulder bevel gear 1169 a may be directly coupled (orconnected or secured) to the distal shoulder planetary gear assembly1170 a (i.e., the second distal shoulder bevel gear 1169 a directlycoupled or connected or secured to distal shoulder sun gear 1170 aa) inexample embodiments.

FIG. 13E illustrates a side view and FIG. 13F illustrates an explodedperspective view of an example embodiment of the distal shoulderplanetary gear assembly 1170 a. The distal shoulder planetary gearassembly 1170 a may have a central axis corresponding to axis D. Thedistal shoulder planetary gear assembly 1170 a may include a distalshoulder sun gear 1170 aa. The distal shoulder sun gear 1170 aa may bedrivable by the second distal shoulder bevel gear 1170 a so as to rotaterelative to axis D. The distal shoulder sun gear 1170 aa and/or thesecond distal shoulder bevel gear 1169 a may include an extended portion(not shown) so as to enable a spacing between the each other and allowfor cabling to run through such spacing.

The distal shoulder planetary gear assembly 1170 a may also include aplurality of distal shoulder planetary (or planet) gears 1170 ab. Forexample, the distal shoulder planetary gear assembly 1170 a may include4 or more distal shoulder planetary gears 1170 ab. Each of the distalshoulder planetary gears 1170 ab may be configured to rotate relative toits central axis. The distal shoulder planetary gears 1170 ab may bedrivable by the distal shoulder sun gear 1170 aa to collectively rotatearound axis D.

The distal shoulder planetary gear assembly 1170 a may also include adistal shoulder ring gear 1170 ac. The distal shoulder ring gear 1170 acmay be fixed or locked from rotating relative to axis D in exampleembodiments so as to enable the plurality of distal shoulder planetarygears 1170 ab to collectively rotate around axis D.

The distal shoulder planetary gear assembly 1170 a may also include adistal shoulder planetary gear carrier 1170 ad. The distal shoulderplanetary gear carrier 1170 ad may have a plurality of first ends 1170ad′ connected to the plurality of proximal elbow planetary gears 1170ab. The distal shoulder planetary gear carrier 1170 ad may also have asecond end 1170 ad″ connected to a portion of a proximal end 1140 b ofthe upper arm segment 1140.

In this regard, when the distal shoulder sun gear 1170 aa is driven bythe second distal shoulder bevel gear 1169 a to rotate relative to axisD, the distal shoulder sun gear 1170 aa in turn drives the plurality ofdistal shoulder planetary gears 1170 ab to collectively rotate relativeto axis D. Such collective rotation of the plurality of distal shoulderplanetary gears 1170 ab around axis D in turn drives the distal shoulderplanetary gear carrier 1170 ad to rotate relative to axis D (via theconnection between the first ends 1170 ad′ of the distal shoulderplanetary gear carrier 1170 ad and the plurality of distal shoulderplanetary gears 1170 ab). Such rotation of the distal shoulder planetarygear carrier 1170 ad around axis C in turn drives the upper arm segment1140 to rotate (or pivotally rotate) relative to axis D (e.g., in theDirection D, as illustrated in at least FIG. 11C) (via the connectionbetween the second end 1170 ad″ of the distal shoulder planetary gearcarrier 1170 ad and the proximal end 1140 b of the upper arm segment1140).

A gear ratio between the second distal shoulder bevel gear 1169 a andthe distal shoulder planetary gear assembly 1140 a may be between about1:2 to 1:8 (e.g., 1:5).

Accordingly, the upper arm segment 1140 may be driven to rotate (orpivotally rotate) relative to axis D (or relative to the distal shoulderjoint 1160 b) by driving the first proximal motor 1146, which in turndrives the first distal shoulder gear stage (which includes the firstdistal shoulder bevel gear 1168 a and the second distal shoulder bevelgear 1169 a), which in turn drives the second distal shoulder gear stage(which includes the distal shoulder planetary gear assembly 1170 ahaving the distal shoulder sun gear 1170 aa, the distal shoulderplanetary gears 1170 ab, the distal shoulder ring gear 1170 ac, and thedistal shoulder planetary gear carrier 1170 ad), which in turn drivesthe upper arm segment 1140 to rotate relative to axis D.

A gear or magnification ratio for the distal shoulder joint assembly maybe between about 1:20 to 1:50 (e.g., 1:30).

The distal shoulder joint assembly may be or include any other gearconfiguration for driving the upper arm segment 1140, including thosedescribed in the present disclosure. For example, the distal shoulderjoint assembly may include any one or more configurations orcombinations of gears and/or gear assemblies, including straight gearconfigurations, planetary gear configurations, beveled gearconfigurations, spiral beveled gear configurations, hypoid gearconfigurations, helical gear configurations, worm gear configurations,and/or any other gear and/or mechanical configurations (such as wire andpulley) without departing from the teachings of the present disclosure.

(ii) The Proximal Shoulder Joint Subassembly.

In an example embodiment, the second proximal motor 1148 may drive theproximal shoulder joint subassembly so as to cause the distal shoulderjoint 1160 a (and the upper arm segment 1140 attached to the distalshoulder joint 1160 a) to rotate (or pivotally rotate) relative to theproximal shoulder joint 1160 b (or relative to axis E, as depicted bythe Direction E illustrated in FIG. 11B).

Put differently, the second proximal motor 1148 may drive the proximalshoulder joint subassembly so as to cause the upper arm segment 1140(which is attached to the distal shoulder joint 1160 a) to rotate (orpivotally rotate) relative to the proximal shoulder joint 1160 b (orrelative to axis E, as depicted by the Direction E illustrated in FIG.11B). As illustrated in at least FIGS. 11B, 11C, 13A, 13D, and 15A-D,the proximal shoulder joint subassembly includes a plurality of gears.More specifically, the proximal shoulder joint subassembly includes agear train system having a plurality of gear stages.

The proximal shoulder joint subassembly may include a first proximalshoulder gear stage. The first proximal shoulder gear stage may includea first proximal shoulder bevel gear (e.g., first proximal shoulderbevel gear 1163 b, as illustrated in at least FIGS. 13A, 15A, 15C, and15D). The proximal shoulder joint subassembly may also include one ormore gears between the second proximal motor drive portion 1148 a andthe first proximal shoulder bevel gear 1163 ba, such as one or more spurgears (not shown). The proximal shoulder joint subassembly may alsoinclude one or more connectors or the like between the second proximalmotor drive portion 1148 a and the first proximal shoulder bevel gear1163 b, such as connector 1161 b, 1162 b (as illustrated in at leastFIG. 13A).

Alternatively, as illustrated in at least FIGS. 15A and 15C, the firstproximal shoulder bevel gear 1163 a may be configured so as to be drivendirectly by the second proximal motor drive portion 1148 a in exampleembodiments (e.g., as illustrated in at least FIGS. 15C and 15D), whichis recognized in the present disclosure to enable a reduction in totallength of the arm assembly 230, 240.

The first proximal shoulder gear stage may also include a secondproximal shoulder bevel gear (e.g., second proximal shoulder bevel gear1164 b, as illustrated in at least FIGS. 13A, 13D, 15A, 15C, and 15D).The second proximal shoulder bevel gear 1164 b may be drivable by thefirst proximal shoulder bevel gear 1163 b so as to rotate relative toaxis D (the second proximal shoulder bevel gear 1164 b may have acentral axis of rotation corresponding to axis D).

A gear ratio between the first proximal shoulder bevel gear 1163 b andthe second proximal shoulder bevel gear 1164 b may be between about 1:2to 1:5 (e.g., 1:3).

The first proximal shoulder gear stage may also include a third proximalshoulder bevel gear (e.g., proximal shoulder elbow bevel gear 1165 b, asillustrated in at least FIGS. 13A, 15A, 15C, and 15D). The thirdproximal shoulder bevel gear 1165 b may be drivable by the secondproximal shoulder bevel gear 1164 b so as to rotate.

A gear ratio between the second proximal shoulder bevel gear 1164 b andthe third proximal shoulder bevel gear 1165 b may be between about 2:1to 5:1 (e.g., 3:1).

The proximal shoulder joint subassembly may include a second proximalshoulder gear stage. The second proximal shoulder gear stage may includea first proximal shoulder spur gear (e.g., first proximal shoulder spurgear 1167 b, as illustrated in at least FIGS. 13A, 15A, 15C, and 15D).The proximal shoulder joint subassembly may also include one or moreconnectors between the third proximal shoulder bevel gear 1165 b and thefirst proximal shoulder spur gear 1167 b, such as connector 1166 b (asillustrated in at least FIG. 13A).

Alternatively, as illustrated in at least FIGS. 15A and 15C, the firstproximal shoulder spur gear 1167 b may be directly coupled (or connectedor secured) to the third proximal shoulder bevel gear 1165 b in exampleembodiments, which is recognized in the present disclosure to enable areduction in total length of the arm assembly 230, 240.

The second proximal shoulder gear stage may also include a secondproximal shoulder spur gear (e.g., second proximal shoulder spur gear1168 b, as illustrated in at least FIGS. 13A, 15C, and 15D). The secondproximal shoulder spur gear 1168 b may be drivable by the first proximalshoulder spur gear 1167 b so as to rotate.

A gear ratio between the first proximal shoulder spur gear 1167 b andthe second proximal shoulder spur gear 1168 b may be between about 1:1to 1:4 (e.g., 1:2).

The second proximal shoulder gear stage may also include a thirdproximal shoulder spur gear (e.g., third proximal shoulder spur gear1169 b, as illustrated in at least FIG. 13A). The third proximalshoulder spur gear 1169 b may be drivable by the second proximalshoulder spur gear 1168 b so as to rotate.

A gear ratio between the second proximal shoulder spur gear 1168 b andthe third proximal shoulder spur gear 1169 b may be between about 1:1 to1:4 (e.g., 1:2).

The proximal shoulder joint subassembly may include a third proximalshoulder gear stage. The third proximal shoulder gear stage may includea fourth proximal shoulder bevel gear (e.g., fourth proximal shoulderbevel gear 1171 b, as illustrated in at least FIGS. 13A, 15A, 15B, 15C,and 15D). The proximal shoulder joint subassembly may also include oneor more connectors or the like between the third proximal shoulder spurgear 1169 b and the fourth proximal shoulder bevel gear 1171 b, such asconnector 1170 b (as illustrated in at least FIG. 13A).

Alternatively, as illustrated in at least FIGS. 15B-D, the fourthproximal shoulder bevel gear 1171 b may be directly coupled (orconnected or secured) to the third proximal shoulder spur gear 1169 b inexample embodiments, which is recognized in the present disclosure toenable a reduction in total length of the arm assembly 230, 240.

The third proximal shoulder gear stage may also include a fifth proximalshoulder bevel gear (e.g., fifth proximal shoulder bevel gear 1172 b, asillustrated in at least FIGS. 13A and 15A-D). The fifth proximalshoulder bevel gear 1172 b may be drivable by the fourth proximalshoulder bevel gear 1171 b so as to rotate relative to axis E (the fifthproximal shoulder bevel gear 1172 b may have a central axis of rotationcorresponding to axis E).

A gear ratio between the fourth proximal shoulder bevel gear 1171 b andthe fifth proximal shoulder bevel gear 1172 b may be between about 1:2to 1:5 (e.g., 1:3).

The proximal shoulder joint subassembly may include a fourth proximalshoulder gear stage. The fourth proximal shoulder gear stage may includea proximal shoulder planetary gear assembly (e.g., proximal shoulderplanetary gear assembly 1173 b, as illustrated in at least FIGS. 11B,13A, and 15A). The proximal shoulder joint subassembly may also includeone or more connectors or the like (not shown) and/or the fifth proximalshoulder bevel gear 1172 b and/or proximal shoulder sun gear 1173 ba mayhave an extended portion (not shown) between the fifth proximal shoulderbevel gear 1172 b and the proximal shoulder planetary gear assembly 1173b, which is recognized in the present disclosure to enable improvedspacing for cabling to pass through the shoulder coupling joint assembly1160 (e.g., pass through between the fifth proximal shoulder bevel gear1172 b and the proximal shoulder planetary gear assembly 1173 b).

Alternatively, as illustrated in at least FIGS. 11C and 13A, the fifthproximal shoulder bevel gear 1172 b may be directly coupled (orconnected or secured) to the proximal shoulder planetary gear assembly1173 b (i.e., the fifth proximal shoulder bevel gear 1172 b directlycoupled or connected or secured to the proximal shoulder sun gear 1173ba) in example embodiments.

FIG. 13B illustrates a side view and FIG. 13C illustrates an explodedperspective view of an example embodiment of the proximal shoulderplanetary gear assembly 1173 b. The proximal shoulder planetary gearassembly 1173 b may have a central axis corresponding to axis E. Theproximal shoulder planetary gear assembly 1173 b may include a proximalshoulder sun gear 1173 ba. The proximal shoulder sun gear 1173 ba may bedrivable by the fifth proximal shoulder bevel gear 1172 b so as torotate relative to axis E. The proximal shoulder sun gear 1173 ba and/orthe fifth proximal shoulder bevel gear 1172 b may include an extendedportion (not shown) so as to enable a spacing between the each other andallow for cabling to run through such spacing.

The proximal shoulder planetary gear assembly 1173 b may also include aplurality of proximal shoulder planetary (or planet) gears 1173 bb. Forexample, the proximal shoulder planetary gear assembly 1173 b mayinclude 4 or more proximal shoulder planetary gears 1173 bb. Each of theproximal shoulder planetary gears 1173 bb may be configured to rotaterelative to its central axis. The proximal shoulder planetary gears 1173bb may be drivable by the proximal shoulder sun gear 1173 ba tocollectively rotate around axis E.

The proximal shoulder planetary gear assembly 1173 b may also include aproximal shoulder ring gear 1173 bc. The proximal shoulder ring gear1173 bc may be fixed or locked from rotating relative to axis E inexample embodiments so as to enable the plurality of proximal shoulderplanetary gears 1173 bb to collectively rotate around axis E.

The proximal shoulder planetary gear assembly 1173 b may also include aproximal shoulder planetary gear carrier 1173 bd. The proximal shoulderplanetary gear carrier 1173 bd may have a plurality of first ends 1173bd′ connected to plurality of proximal shoulder planetary gears 1173 bb.The proximal shoulder planetary gear carrier 1173 bd may also have asecond end 1173 bd″ connected to a portion of a proximal end of thedistal shoulder joint 1160 a.

In this regard, when the proximal shoulder sun gear 1173 ba is driven bythe fifth proximal shoulder bevel gear 1172 b to rotate relative to axisE, the proximal shoulder sun gear 1173 ba in turn drives the pluralityof proximal shoulder planetary gears 1173 bb to collectively rotaterelative to axis E. Such collective rotation of the plurality ofproximal shoulder planetary gears 1173 bb around axis E in turn drivesthe proximal shoulder planetary gear carrier 1173 bd to rotate relativeto axis E (via the connection between the first ends 1173 bd′ of theproximal shoulder planetary gear carrier 1173 bd and the plurality ofproximal shoulder planetary gears 1173 bb). Such rotation of theproximal shoulder planetary gear carrier 1173 bd around axis E in turndrives the distal shoulder joint 1160 a (and the upper arm segment 1140attached to the distal shoulder joint 1160 a) to rotate (or pivotallyrotate) relative to axis E (e.g., in the Direction E, as illustrated inat least FIG. 11B) (via the connection between the second end 1173 bd″of the proximal shoulder planetary gear carrier 1173 bd and the proximalend of the distal shoulder joint 1140).

A gear ratio between the fifth proximal shoulder bevel gear 1172 b andthe proximal shoulder planetary gear assembly 1173 b may be betweenabout 1:2 to 1:8 (e.g., 1:5).

Accordingly, the distal shoulder joint 1160 a (and the upper arm segment1140 attached to the distal shoulder joint 1160 a) may be driven torotate (or pivotally rotate) relative to axis E (or relative to theproximal shoulder joint 1160 b) by driving the second proximal motor1148, which in turn drives the first proximal shoulder gear stage (whichincludes the first proximal shoulder bevel gear 1163 b, the secondproximal shoulder bevel gear 1164 b, the third proximal shoulder bevelgear 1165 b), which in turn drives the second proximal shoulder gearstage (which includes the first proximal shoulder spur gear 1167 b, thesecond proximal shoulder spur gear 1168 b, and the third proximalshoulder spur gear 1169 b), which in turn drives the third proximalshoulder gear stage (which includes the fourth proximal shoulder bevelgear 1171 b and the fifth proximal shoulder bevel gear 1172 b), which inturn drives the fourth proximal shoulder gear stage (which includes theproximal shoulder planetary gear assembly 1173 b having the proximalshoulder sun gear 1173 ba, the proximal shoulder planetary gears 1173bb, the proximal shoulder ring gear 1173 bc, and the proximal shoulderplanetary gear carrier 1173 bd), which in turn drives the distalshoulder joint 1160 a (and the upper arm segment 1140 attached to thedistal shoulder joint 1160 a) to rotate relative to axis E.

Put differently, the upper arm segment 1140 (which is attached to thedistal shoulder joint 1160 a) may be driven to rotate (or pivotallyrotate) relative to axis E (or relative to the proximal shoulder joint1160 b) by driving the second proximal motor 1148, which in turn drivesthe first proximal shoulder gear stage (which includes the firstproximal shoulder bevel gear 1163 b, the second proximal shoulder bevelgear 1164 b, the third proximal shoulder bevel gear 1165 b), which inturn drives the second proximal shoulder gear stage (which includes thefirst proximal shoulder spur gear 1167 b, the second proximal shoulderspur gear 1168 b, and the third proximal shoulder spur gear 1169 b),which in turn drives the third proximal shoulder gear stage (whichincludes the fourth proximal shoulder bevel gear 1171 b and the fifthproximal shoulder bevel gear 1172 b), which in turn drives the fourthproximal shoulder gear stage (which includes the proximal shoulderplanetary gear assembly 1173 b having the proximal shoulder sun gear1173 ba, the proximal shoulder planetary gears 1173 bb, the proximalshoulder ring gear 1173 bc, and the proximal shoulder planetary gearcarrier 1173 bd), which in turn drives the upper arm segment 1140 (whichis attached to the distal shoulder joint 1160 a) to rotate relative toaxis E.

A gear or magnification ratio for the proximal shoulder joint assemblymay be between about 1:20 to 1:50 (e.g., 1:30).

The proximal shoulder joint assembly may be or include any other gearconfiguration for driving the upper arm segment 1140, including thosedescribed in the present disclosure. For example, the proximal shoulderjoint assembly may include any one or more configurations orcombinations of gears and/or gear assemblies, including straight gearconfigurations, planetary gear configurations, beveled gearconfigurations, spiral beveled gear configurations, hypoid gearconfigurations, helical gear configurations, worm gear configurations,and/or any other gear and/or mechanical configurations (such as wire andpulley) without departing from the teachings of the present disclosure.

Shoulder Segment (e.g., Shoulder Segment 231).

An example embodiment of the shoulder segment 231 is illustrated in atleast FIGS. 11A-C. A distal end of the shoulder segment 231 may besecurable to the shoulder coupling joint assembly 1160. A proximal endof the shoulder segment 231 may be securable to the port assembly 210.In an example embodiment, the shoulder segment 231 may be securable toand unsecurable from (e.g., detached) the port assembly 210.

In an example embodiment, the shoulder segment 231 may be similar to orthe same as the shoulder segment 231 described above and in the presentdisclosure.

The Assistant Arm Assemblies (e.g., Assistant Arm Assembly 250, 260)

In an example embodiment, the surgical device 200 may comprise one ormore assistant arm assemblies (e.g., assistant arm assembly 250 or 260)configurable to be inserted into and attach to the port assembly 210. Asillustrated in FIGS. 2A, 2B, 3A, and 3B, one or more of the assistantarm assemblies may be a suction/irrigation assembly 250 or an assistantinstrument arm assembly such as a retractor arm assembly 260, and eachof them may include a multi-curvable body 252 or 262, respectively, andan anchoring portion, respectively (e.g., similar to the multi-curvablebody 222 and anchoring portion 220 a of the image capturing assembly220).

As illustrated in FIGS. 2A, 2B, 3A, and 3B, the suction/irrigationassembly 250 may include an end having a suction port 259 for applying asuction or negative pressure, which may be for use in removing liquids(e.g., blood, etc.) from the cavity of the patient. In respect to theassistant instrument arm assembly 260, the assistant instrument armassembly 260 may include an end having an instrument 269, such as agripper, retractor, cutter, needle, or the like, which may be for use inassisting the one or more instrument arm assemblies 230 and/or 240 inperforming the surgical action.

As illustrated in the example embodiment of FIGS. 2A, 2B, 3A, and 3B,the assistant arm assemblies 250 and/or 260 may comprise amulti-curvable body 252 and/or 262, respectively, attached to their ends(suction port or instrument, respectively). The multi-curvable body 252or 262 may be any elongated multi-curvable body similar to that of theimage capturing assembly 220 described above and in the presentdisclosure that can be controlled/configured by the surgical team 904(such as via the computing device/controller/manipulator/master inputdevice) to, among other things, straighten and/or curve (and hold such astraightness and/or curvature) at one or more of a plurality oflocations along the multi-curvable body 252 or 262, curve (and hold sucha curvature) in one or more of a plurality of curvatures, and/orstraighten and/or curve (and hold such a straightness and/or curvature)in one or more of a plurality of directions. It is to be understoodthat, when the multi-curvable body 252 or 262 is configured to curve atany location along the multi-curvable body 252 or 262, the curve may beheld and/or released (or configured to uncurve, curve less, orstraighten) by the surgical team 904 (such as via the computingdevice/controller/manipulator/master input device).

The multi-curvable body 252 or 262 may be formed in any one or more waysknown in the art. For example, the multi-curvable body 252 or 262 may bea unitary or substantially unitary elongated body having a plurality ofwires, cables, or the like, distributed/run throughout themulti-curvable body 252 or 262 in such a way that a manipulating, suchas a pulling/releasing, shortening/lengthening, tightening/loosening,etc., of one or a combination of such wires, cables, or the like enablesthe above-mentioned curving of one or more locations of themulti-curvable body 252 or 262 in one or more curvatures and in one ormore directions. As another example, the multi-curvable body 252 or 262may include a plurality of segments, each segment linked to an adjacentsegment in such a way that the segment may be controlled/configured tobe pivotly positioned in a plurality of positions relative to theadjacent segment. As another example, the multi-curvable body 252 or 262may include a plurality of springs, gears, motors, etc. for achievingthe above-mentioned curving of one or more locations of themulti-curvable body 252 or 262 in one or more curvatures and in one ormore directions. It is to be understood in the present disclosure thatthe multi-curvable body 252 or 262 may also include a combination of oneor more of the above-mentioned approaches.

The assistant arm assembly 250 or 260 may be secured to the portassembly 210 in one or more of a plurality of ways, including thosedescribed above and in the present disclosure for the instrument armassemblies 230, 240 and/or the image capturing assembly 220. Forexample, the assistant arm assembly 250 or 260 may also comprise ananchoring portion (e.g., similar to the anchoring portion 220 a of theimage capturing assembly 220 and/or the securing portion 231 a of theinstrument arm assembly 220), respectively, operable to attach (orsecure) the assistant arm assembly 250 or 260 to one or more anchorports 216 of the port assembly 210.

In an example embodiment, the multi-curvable body 252 or 262 may each besubstantially cylindrical in shape. The multi-curvable body 252 or 262may also be formed in any one of a plurality of other shapes, sizes,and/or dimensions without departing from the teachings of the presentdisclosure.

In an example embodiment, the length of the multi-curvable body 252 or262 may be between about 170 to 270 mm. In example embodiments, a lengthof multi-curvable body 252 or 262 may also be adjustable by the surgicalteam 904 before, during, and/or after insertion of the camera armassembly into the cavity of the patient. The outer diameter of themulti-curvable body 252 or 262 may be between about 5 to 7 mm. It is tobe understood in the present disclosure that the above dimensions aremerely an illustration of example embodiments, and as such thedimensions may be smaller or larger than those recited above withoutdeparting from the teachings of the present disclosure.

Controller

In example embodiments, the surgical system may include a controller (orcomputing device, manipulator, and/or master input device). Thecontroller may be configurable to perform one or more of a plurality ofoperations in and on the surgical system 200. For example, thecontroller may be configurable to communicate with and/or control one ormore elements of the surgical system 200, such as the external anchor 1or 1000, the port assembly 210, the instrument arm assemblies 230 or240, the image capturing assembly 220, and/or the assistant armassemblies 250 or 260. The controller may be accessible and/orcontrollable by the surgical team 904, and the surgical team may be ableto communicate with and/or control the configuring and/or operation ofthe one or more elements of the surgical system 200. For example, thecontroller may be configurable to control a movement and action of someor all parts of the instrument arm assemblies 230 or 240, the first gateassembly 212 b, the second gate assembly 214 b, the movement and actionof some or all parts of the image capturing assembly 220 (including theimage capturing, temperature control, etc.), the movement and action ofsome or all parts of the multi-curvable body 222 of the image capturingassembly 220, the movement and action of some or all parts of themulti-curvable body 252 or 262 of the assistant arm assemblies, themovement and action of some or all parts of the assistant arm assemblies250 or 260, and the like.

Method of Setting Up the Surgical Device 200 in a Forward-DirectedPosition (e.g., Method 700)

As illustrated in FIG. 7 and FIGS. 8A-E, example embodiments of thesurgical device 200 may be configurable to perform a forward-directedsurgical action or procedure in one of a plurality of ways. In anexample embodiment, the external anchor 1 may be provided andinstalled/anchored to the stationary object. The port assembly 210 maybe provided (e.g., action 702), and the instrument arm assembly may beprovided (e.g., action 704). A second instrument arm assembly may beprovided, as well as the image capturing assembly 220 and/or 320 and anyof the assistant arm assemblies 250 and/or 260 required. The portassembly 210 may be inserted (e.g., action 706) into the opening (andcavity) of the patient and anchored in position using the externalanchor 1 (e.g., action 708), and a workable volume/space in the cavitymay be formed, such as via insufflation using CO₂ and/or other gases,vacuum suction tools, and/or retractable hook tools. The controllableswivel assembly 1000 may also be used in example embodiments. Forexample, a workable abdominal cavity of about 10-12 cm in height may beprovided for the patient. Thereafter, one or more image capturingassemblies 220, one or more assistant arm assemblies (e.g., action 710),and one or more assistant arm assemblies 250 or 260 (if needed) may beinserted into the port assembly 210 via the central access channel 210a, secured to the anchor ports 216, and configured in the cavity of thepatient. A surgical action or procedure may then be performed in anypart, area, and/or quadrant of the cavity of the patient using thesurgical device 200. These processes will now be described below withreferences to at least FIGS. 7, 8A-E, 9B, and 10B.

(1) Providing the External Anchor and Installing the Port Assembly.

In an example embodiment, the external anchor 1 may be provided andinstalled/anchored to one or more stationary objects, such as a siderail 300 of a surgical table/bed, as illustrated in FIGS. 1A and 1B. Oneor more segments 2, 6, 10, and 14 of the external anchor 1 may cooperateusing one or more joints 4, 8, 12, and 16 of the external anchor 1 tofix the position (including orientation) of the port assembly 210 in orabout the opening of the patient.

In an example embodiment, as illustrated in FIGS. 10A and 10B, theexternal anchor 1 may comprise a controllable swivel assembly 1000operable to provide one or more additional in vitro degrees of freedom,such as via a first swivel portion 1002, second swivel portion 1004,and/or third swivel portion 1006. The controllable swivel assembly 1000may further comprise a motor 1002 a for the first swivel portion 1002, amotor 1004 a for the second swivel portion 1004, a motor 1006 a for thethird swivel portion 1006, one or more supporting arms 1008, and one ormore locks 1010.

The first swivel portion 1002 may be operable to provide, as one of thein vitro degrees of freedom, a translational movement of the portassembly 210 along an axis defined by the elongated length of the portassembly 210, as illustrated by the arrow A. In example embodiments, thetranslational movement, as illustrated by arrow A, provided by the firstswivel portion 1002 may be between about 0 to 50 mm.

The controllable swivel assembly 1000 may further comprise a secondswivel portion 1004 operable to provide, as another one of the in vitrodegrees of freedom, a torsional or rotational movement of the portassembly 210 about an axis depicted by axis Y. In example embodiments,the torsional or rotational movement, as illustrated by the arrow B,provided by the second swivel portion 1004 may be between about +/−180degrees.

The controllable swivel assembly 1000 may further comprise a thirdswivel portion 1006 operable to provide, as another one of the in vitrodegrees of freedom, a pivotal or rotational movement of the portassembly 210 about an axis perpendicular to the Y-axis, such as the axisdepicted by axis Z (which comes out of the page). In exampleembodiments, the Z-axis or the center of rotation may be located atabout opening of the patient, such as at the mid-point of the abdominalwall. In example embodiments, the pivotal or rotational movement, asillustrated by the arrow C, provided by the third swivel portion 1006may be between about +/−80 degrees.

It is recognized in the present disclosure that the controllable swivelassembly 1000 may comprise the first swivel portion 1002, second swivelportion 1004, and/or third swivel portion 1006 in example embodiments.The controllable swivel assembly 1000 may further comprise other swivelportions (not shown) when more than three in vitro degrees of freedomand/or movements/rotations other than those providable by the firstswivel portion 1002, second swivel portion 1004, and third swivelportion 1006 are desired and/or required.

The controllable swivel assembly 1000, including the first swivelportion 1002, the second swivel portion 1004, and/or the third swivelportion 1006, may be controllable either locally or remotely by thesurgical team.

In an example embodiment, the port assembly 210 may be installed andsecured to the external anchor 1 or 1000. As illustrated in FIGS. 8A-E,the second end 214 of the port assembly 210 may be inserted into theopening of the patient and into the cavity of the patient and the firstend 212 of the port assembly 210 may be secured to the external anchor 1or 1000. Thereafter, a workable volume/space in the cavity may be formedin the cavity of the patient, such as via insufflation using CO₂ and/orother gases, vacuum suction tools, and/or retractable hook tools. Beforedoing so, the first gate assembly 212 b and the second gate assembly 214b may be expanded to the closed position. Insufflation of the cavity maybe achieved in one or more of a plurality of ways. For example, theinsufflation port of the port assembly 210 may be used to provide therequired insufflation.

(2) Inserting and Attaching the Image Capturing Assembly.

After the workable volume/space in the cavity has been formed and theport assembly 210 is secured in position, as illustrated in FIG. 8A, theimage capturing assembly 220 may be inserted through the central accesschannel 210 a and secured to the anchor port 216 of the port assembly210. To do so while maintaining the workable volume/space, the firstgate assembly 212 b may be configured to the open position while thesecond gate assembly 214 b is configured to the closed position. Oncethe first gate assembly 212 b is in the open position, the imagecapturing assembly 220 may be inserted into the mid section 213. Thefirst gate assembly 212 b may then be configured to the closed positionafter the image capturing assembly 220 passes through the first gateassembly 212 b. The second gate assembly 214 b may then be configured tothe open position. It is recognized in the present disclosure that theworkable volume/space in the cavity is maintained via the insufflationsince the first gate assembly 212 b is configured to the closedposition. Once the second gate assembly 214 b is in the open position,the image capturing assembly 220 may be inserted into the cavity of thepatient and the anchor portion 220 a secured to an anchor port 216. Thesecond gate assembly 214 b may then be configured to the closed positionafter the image capturing assembly 220 passes through the second gateassembly 214 b. The multi-curvable body 222 of the image capturingassembly 220 may then be configured/controlled to curve in one or morelocations along the multi-curvable body 222 so that the image capturingassembly 220 can be directed in a forward-directed position (asillustrated in FIGS. 2B and 3B).

The separate image capturing assembly 320 may also be inserted throughthe port assembly 210 in a similar manner as described above. Onceinserted through the port assembly 210 and into the cavity of thepatient, the separate image capturing assembly 320 may then beattached/secured to the interior wall of the cavity of the patient viathe magnetic anchor 310.

(3) Inserting and Attaching a First Instrument Arm Assembly.

The instrument arm assembly 230 may be inserted through the centralaccess channel 210 a and secured to the anchor port 216 of the portassembly 210. To do so while maintaining the workable volume/space, thefirst gate assembly 212 b may again be configured to the open positionwhile the second gate assembly 214 b is configured to the closedposition. Once the first gate assembly 212 b is in the open position,the instrument arm assembly 230 may be inserted into the mid section213, as illustrated in FIG. 8B. The first gate assembly 212 b may thenbe configured to the closed position after the instrument arm assembly230 passes through the first gate assembly 212 b and into the midsection 213, as illustrated in FIG. 8C. The second gate assembly 214 bmay then be configured to the open position, as illustrated in FIG. 8D.Once the second gate assembly 214 b is in the open position, theinstrument arm assembly 230 may be inserted into the cavity of thepatient and the securing portion 231 a secured to an anchor port 216, asillustrated in FIG. 8E. The second gate assembly 214 b may then beconfigured to the closed position after the instrument arm assembly 230passes through the second gate assembly 214 b.

(5) Inserting and Attaching One or More Additional Instrument ArmAssemblies, One or More Assistant Arm Assemblies, and/or One or MoreAdditional Camera Arm Assemblies.

One or more additional instrument arm assemblies 240, one or moreassistant arm assemblies 250 or 260, and/or one or more additional imagecapturing assemblies (not shown) may also be inserted into the portassembly 210 via the central access channel 210 a in the same manner asdescribed above for the image capturing assembly 220 and the instrumentarm assembly 230.

(6) Unattaching and Removing the Instrument Arm Assembly, ImageCapturing Assembly, and Assistant Arm Assemblies.

The instrument arm assembly 230, image capturing assembly 220, otherinstrument arm assembly 240 (if provided), other image capturingassembly (if provided), and the one or more other assistant armassemblies 250 or 260 (if provided) may be unattached (or unsecured)from the anchor ports 216 and removed from the cavity of the patient viathe central access channel 210 a of the port assembly 210 in asubstantially reverse manner as described above for the inserting andattaching.

Method of Setting Up the Surgical Device 200 in a Reverse-DirectedPosition (e.g., Method 700)

As illustrated in FIGS. 7 and 8F-K, example embodiments of the surgicaldevice 200 may be configurable to perform a reverse-directed surgicalaction or procedure in one of a plurality of ways. In an exampleembodiment, the external anchor 1 may be provided and installed/anchoredto the stationary object in a similar manner as described above and inthe present disclosure. The port assembly 210 may be provided (e.g.,action 702), and the instrument arm assembly may be provided (e.g.,action 704). A second instrument arm assembly may be provided, as wellas the image capturing assembly 220 and/or 320 and any of the assistantarm assemblies 250 and/or 260 required. The port assembly 210 may beinserted (e.g., action 706) into the opening (and cavity) of the patientand anchored in position using the external anchor 1 (e.g., action 708),and a workable volume/space in the cavity may be formed, such as viainsufflation using CO₂ and/or other gases, vacuum suction tools, and/orretractable hook tools. The controllable swivel assembly 1000 may alsobe used in example embodiments. For example, a workable abdominal cavityof about 10-12 cm in height may be provided for the patient. Thereafter,one or more image capturing assemblies 220, one or more assistant armassemblies (e.g., action 710), and one or more assistant arm assemblies250 or 260 (if needed) may be inserted into the port assembly 210 viathe central access channel 210 a, secured to the anchor ports 216, andconfigured in the cavity of the patient. For the inserting, each of theimage capturing assemblies 220, instrument arm assemblies 230 and/or240, and assistant arm assemblies 250 and/or 260 are inserted in reverseorientation as compared to the forward-directed position described aboveand in the present disclosure. A surgical action or procedure may thenbe performed in any part, area, and/or quadrant of the cavity of thepatient using the surgical device 200. These processes will now bedescribed below with references to at least FIGS. 7, 8F-K, 9B, and 10B.

(1) Providing the External Anchor and Installing the Port Assembly.

In an example embodiment, the port assembly 210 may be installed andsecured to the external anchor 1 or 1000. As illustrated in FIGS. 8A-E,the second end 214 of the port assembly 210 is inserted into the openingof the patient and into the cavity of the patient and the first end 212of the port assembly 210 is secured to the external anchor 1 or 1000.Thereafter, a workable volume/space in the cavity may be formed in thecavity of the patient, such as via insufflation using CO₂ and/or othergases, vacuum suction tools, and/or retractable hook tools. Before doingso, the first gate assembly 212 b and the second gate assembly 214 b maybe expanded to the closed position. Insufflation of the cavity may beachieved in one or more of a plurality of ways. For example, theinsufflation port of the port assembly 210 may be used to provide therequired insufflation.

(2) Inserting and Attaching the Image Capturing Assembly.

After the workable volume/space in the cavity has been formed and theport assembly 210 is secured in position, as illustrated in FIG. 8F, theimage capturing assembly 220 may be inserted with the image capturingbody 224 inserted last through the central access channel 210 a andsecured to the anchor port 216 of the port assembly 210. To do so whilemaintaining the workable volume/space, the first gate assembly 212 b maybe configured to the open position while the second gate assembly 214 bis configured to the closed position. Once the first gate assembly 212 bis in the open position, the image capturing assembly 220 may beinserted into the mid section 213. The first gate assembly 212 b maythen be configured to the closed position after the image capturingassembly 220 passes through the first gate assembly 212 b. The secondgate assembly 214 b may then be configured to the open position. It isrecognized in the present disclosure that the workable volume/space inthe cavity is maintained via the insufflation since the first gateassembly 212 b is configured to the closed position. Once the secondgate assembly 214 b is in the open position, the image capturingassembly 220 may be inserted completely into the cavity of the patientwith the image capturing body 224 being closest to the anchor port 216.The multi-curvable body 222 of the image capturing assembly 220 may thenbe configured/controlled to curve in one or more locations along themulti-curvable body 222 so that the image capturing assembly 220 can bedirected in a reverse-directed position next to the outer surface of theport assembly 210 (as illustrated in FIGS. 2A and 3A). The imagecapturing assembly 220 may then be provided adjacent to the outersurface of the port assembly 210 so that the anchoring portion 220 a ofthe image capturing assembly 220 is adjacent to the anchor port 216. Theanchoring portion 220 a of the image capturing assembly 220 may then besecured to the anchor port 216. The second gate assembly 214 b may beconfigured to the closed position after the image capturing assembly 220passes through the second gate assembly 214 b.

The separate image capturing assembly 320 may also be inserted throughthe port assembly 210 in a similar manner as described above. Onceinserted through the port assembly 210 and into the cavity of thepatient, the separate image capturing assembly 320 may then beattached/secured to the interior wall of the cavity of the patient viathe magnetic anchor 310.

(3) Inserting and Attaching a First Instrument Arm Assembly.

To insert the instrument arm assembly 230 through the central accesschannel 210 a and secure it to the anchor port 216 of the port assembly210 while maintaining the workable volume/space, the first gate assembly212 b may again be configured to the open position while the second gateassembly 214 b is configured to the closed position. Once the first gateassembly 212 b is in the open position, the instrument arm assembly 230may be inserted with the end effector 239, 342, 344 inserted last intothe mid section 213, as illustrated in FIG. 8G. The first gate assembly212 b may then be configured to the closed position after the instrumentarm assembly 230 passes through the first gate assembly 212 b and intothe mid section 213, as illustrated in FIG. 8H. The second gate assembly214 b may then be configured to the open position, as illustrated inFIG. 8I. Once the second gate assembly 214 b is in the open position,the instrument arm assembly 230 may be inserted completely into thecavity of the patient with the end effector 239, 342, 344 being closestto the anchor port 216, as illustrated in FIG. 8J. The instrument armassembly 230 may then be turned 180 degrees (if needed) and/or moved sothat the instrument arm assembly 230 can be brought next to the outersurface of the port assembly 210. The instrument arm assembly 230 maythen be pulled adjacent to the outer surface of the port assembly 210 sothat the securing portion 231 a of the shoulder section 231 of theinstrument arm assembly 230 is adjacent to the anchor port 216. Thesecuring portion 231 a of the instrument arm assembly 230 may then besecured to the anchor port 216, as illustrated in FIG. 8K. The secondgate assembly 214 b may be configured to the closed position at any timeafter at least the end effector 230 of the instrument arm assembly 230passes through the second gate assembly 214 b.

(5) Inserting and Attaching One or More Additional Instrument ArmAssemblies, One or More Assistant Arm Assemblies, and/or One or MoreAdditional Camera Arm Assemblies.

One or more additional instrument arm assemblies 240, one or moreassistant arm assemblies 250 or 260, and/or one or more additional imagecapturing assemblies (not shown) may also be inserted and installed in areverse-directed manner via the central access channel 210 a of the portassembly 210 in the same manner as described above for the imagecapturing assembly 220 and the instrument arm assembly 230.

(6) Unattaching and Removing the Instrument Arm Assembly, ImageCapturing Assembly, and Assistant Arm Assemblies.

The instrument arm assembly 230, image capturing assembly 220, otherinstrument arm assembly 240 (if provided), other image capturingassembly (if provided), and the one or more other assistant armassemblies 250 or 260 (if provided) may be unattached (or unsecured)from the anchor ports 216 and removed from the cavity of the patient viathe central access channel 210 a of the port assembly 210 in asubstantially reverse manner as described above for the inserting andattaching in the reverse-directed manner.

While various embodiments in accordance with the disclosed principleshave been described above, it should be understood that they have beenpresented by way of example only, and are not limiting. Thus, thebreadth and scope of the example embodiments described in the presentdisclosure should not be limited by any of the above-described exemplaryembodiments, but should be defined only in accordance with the claimsand their equivalents issuing from this disclosure. Furthermore, theabove advantages and features are provided in described embodiments, butshall not limit the application of such issued claims to processes andstructures accomplishing any or all of the above advantages.

For example, “assembly,” “device,” “portion,” “segment,” “member,”“body,” or other similar terms should generally be construed broadly toinclude one part or more than one part attached or connected together.

Various terms used herein have special meanings within the presenttechnical field. Whether a particular term should be construed as such a“term of art” depends on the context in which that term is used.“Connected,” “connecting,” “attached,” “attaching,” “anchored,”“anchoring,” “in communication with,” “communicating with,” “associatedwith,” “associating with,” or other similar terms should generally beconstrued broadly to include situations where attachments, connections,and anchoring are direct between referenced elements or through one ormore intermediaries between the referenced elements. These and otherterms are to be construed in light of the context in which they are usedin the present disclosure and as one of ordinary skill in the art wouldunderstand those terms in the disclosed context. The above definitionsare not exclusive of other meanings that might be imparted to thoseterms based on the disclosed context.

As referred to in the present disclosure, a computing device,controller, manipulator, master input device, a processor, and/or asystem may be a virtual machine, computer, node, instance, host, and/ordevice in a networked or non-networked computing environment. Anetworked computing environment may be a collection of devices connectedby communication channels that facilitate communications between devicesand allow devices to share resources. Also as referred to in the presentdisclosure, a computing device may be a device deployed to execute aprogram operating as a socket listener and may include softwareinstances.

Resources may encompass any type of resource for running instancesincluding hardware (such as servers, clients, mainframe computers,networks, network storage, data sources, memory, central processing unittime, scientific instruments, and other computing devices), as well assoftware, software licenses, available network services, and othernon-hardware resources, or a combination thereof.

A networked computing environment may include, but is not limited to,computing grid systems, distributed computing environments, cloudcomputing environment, etc. Such networked computing environmentsinclude hardware and software infrastructures configured to form avirtual organization comprised of multiple resources that may be ingeographically disperse locations.

Furthermore, the coverage of the present application and any patentsissuing from the present application may extend to one or morecommunications protocols, including TCP/IP.

Words of comparison, measurement, and timing such as “at the time,”“equivalent,” “during,” “complete,” and the like should be understood tomean “substantially at the time,” “substantially equivalent,”“substantially during,” “substantially complete,” etc., where“substantially” means that such comparisons, measurements, and timingsare practicable to accomplish the implicitly or expressly stated desiredresult.

Additionally, the section headings herein are provided for consistencywith the suggestions under 37 C.F.R. 1.77 or otherwise to provideorganizational cues. These headings shall not limit or characterize theinvention(s) set out in any claims that may issue from this disclosure.Specifically, a description of a technology in the “Background” is notto be construed as an admission that technology is prior art to anyinvention(s) in this disclosure. Furthermore, any reference in thisdisclosure to “invention” in the singular should not be used to arguethat there is only a single point of novelty in this disclosure.Multiple inventions may be set forth according to the limitations of themultiple claims issuing from this disclosure, and such claimsaccordingly define the invention(s), and their equivalents, that areprotected thereby. In all instances, the scope of such claims shall beconsidered on their own merits in light of this disclosure, but shouldnot be constrained by the headings herein.

What is claimed is:
 1. A robotic arm assembly, the robotic arm assemblycomprising: a forearm segment, the forearm segment formed as anelongated structure with a proximal end and a distal end; an upper armsegment, the upper arm segment formed as an elongated structure with aproximal end and a distal end, the upper arm segment having: a firstproximal motor, the first proximal motor having a first proximal motordrive portion at the proximal end of the upper arm segment, the firstproximal motor drive portion configured to rotate relative to a firstaxis, the first axis being parallel to a central axis of the upper armsegment; and a shoulder segment, the shoulder segment having a proximalend and a distal end; an elbow coupling joint assembly, the elbowcoupling joint assembly connecting the proximal end of the forearmsegment to the distal end of the upper arm segment; and a shouldercoupling joint assembly, the shoulder coupling joint assembly connectingthe proximal end of the upper arm segment to the distal end of theshoulder segment, the shoulder coupling joint assembly having: a distalshoulder joint subassembly connected at a distal end to the proximal endof the upper arm segment, the distal shoulder joint subassemblyincluding a gear train system having a plurality of gear stagesincluding: a first distal shoulder gear stage, the first distal shouldergear stage having: a first distal shoulder bevel gear configured to bedriven by the first proximal motor drive portion of the first proximalmotor to rotate relative to the first axis; and a second distal shoulderbevel gear drivable by the first distal shoulder bevel gear, the seconddistal shoulder bevel gear configured to rotate relative to a first mainshoulder axis when driven by the first distal shoulder bevel gear, thefirst main shoulder axis being orthogonal to the first axis; and asecond distal shoulder gear stage, the second distal shoulder gear stagehaving a distal shoulder planetary gear assembly, the distal shoulderplanetary gear assembly having: a distal shoulder sun gear connected tothe second distal shoulder bevel gear, the distal shoulder sun gearconfigured to be driven by the second distal shoulder bevel gear torotate relative to the first main shoulder axis; a distal shoulder ringgear configured to not rotate relative to the first main shoulder axis;a plurality of distal shoulder planetary gears drivable by the distalshoulder sun gear; and a distal shoulder planetary gear carrierconnected at one end to the plurality of distal shoulder planetary gearsin such a way that when the distal shoulder sun gear rotates relative tothe first main shoulder axis, the distal shoulder planetary gear carrierrotates relative to the first main shoulder axis; and a proximalshoulder joint subassembly connecting the distal end of the shouldersegment to the distal shoulder joint subassembly, the proximal shoulderjoint subassembly configurable to be driven in such a way as topivotally rotate the upper arm segment relative to a second mainshoulder axis, the second main shoulder axis being orthogonal to thefirst main shoulder axis; wherein the distal shoulder planetary gearcarrier is connected at another end to the proximal end of the upper armsegment, and wherein when the distal shoulder sun gear is driven torotate relative to the first main shoulder axis, the distal shoulderplanetary gear carrier drives the upper arm segment to pivotally rotaterelative to the first main shoulder axis.
 2. The robotic arm assembly ofclaim 1, wherein the upper arm segment further comprises: a secondproximal motor, the second proximal motor having a second proximal motordrive portion at the proximal end of the upper arm segment, the secondproximal motor drive portion configured to rotate relative to a secondaxis, the second axis being parallel to the first axis.
 3. The roboticarm assembly of claim 2, wherein the proximal shoulder joint subassemblyincludes a gear train system having a plurality of gear stagesincluding: a first proximal shoulder gear stage, the first proximalshoulder gear stage having: a first proximal shoulder bevel gearconfigured to be driven by the second proximal motor drive portion ofthe second proximal motor to rotate relative to the second axis; asecond proximal shoulder bevel gear drivable by the first proximalshoulder bevel gear, the second proximal shoulder bevel gear configuredto rotate relative to the first main shoulder axis when driven by thefirst proximal shoulder bevel gear; and a third proximal shoulder bevelgear drivable by the second proximal shoulder bevel gear, the thirdproximal shoulder bevel gear configured to rotate relative to an axisorthogonal to the first main shoulder axis when the first proximalshoulder bevel gear drives the second proximal shoulder bevel gear torotate relative to the first main shoulder axis; a second proximalshoulder gear stage, the second proximal shoulder gear stage having: afirst proximal shoulder spur gear connected to the third proximalshoulder bevel gear, the first proximal shoulder spur gear configured torotate relative to a same axis of rotation as the third proximalshoulder bevel gear when the third proximal shoulder bevel gear isdriven to rotate; and a second proximal shoulder spur gear drivable bythe first proximal shoulder spur gear, the second proximal shoulder spurgear configured to rotate relative to an axis of rotation that isparallel to the axis of rotation of the first proximal shoulder spurgear when the second proximal shoulder spur gear is driven by the firstproximal shoulder spur gear; a third proximal shoulder gear stage, thethird proximal shoulder gear stage having: a fourth proximal shoulderbevel gear connected to the second proximal shoulder spur gear, thefourth proximal shoulder bevel gear configured to be driven by thesecond proximal shoulder spur gear to rotate relative to the same axisof rotation as that of the second proximal shoulder spur gear; and afifth proximal shoulder bevel gear drivable by the fourth proximalshoulder bevel gear, the fifth proximal shoulder bevel gear configuredto rotate relative to the second main shoulder axis when driven by thefourth proximal shoulder bevel gear; and a fourth proximal shoulder gearstage, the fourth proximal shoulder gear stage having a proximalshoulder planetary gear assembly, the proximal shoulder planetary gearassembly having: a proximal shoulder sun gear connected to the fifthproximal shoulder bevel gear, the proximal shoulder sun gear configuredto be driven by the fifth proximal shoulder bevel gear to rotaterelative to the second main shoulder axis; a proximal shoulder ring gearconfigured to not rotate relative to the second main shoulder axis; aplurality of proximal shoulder planetary gears drivable by the proximalshoulder sun gear; and a proximal shoulder planetary gear carrierconnected at one end to the plurality of proximal shoulder planetarygears in such a way that when the proximal shoulder sun gear rotatesrelative to the second main shoulder axis, the proximal shoulderplanetary gear carrier rotates relative to the second main shoulderaxis, wherein the proximal shoulder planetary gear carrier is connectedat another end to the distal end of the shoulder segment in such a waythat when the proximal shoulder sun gear is driven to rotate relative tothe second main shoulder axis, the proximal shoulder planetary gearcarrier drives the upper arm segment to pivotally rotate relative to thesecond main shoulder axis.
 4. The robotic arm assembly of claim 3,wherein one or more of the following apply: the first proximal shoulderspur gear and the third proximal shoulder bevel gear are directlyconnected to one another in such a way that a portion of the firstproximal shoulder spur gear is secured to a portion of the thirdproximal shoulder bevel gear; and/or the second proximal shoulder spurgear and the fourth proximal shoulder bevel gear are directly connectedto one another in such a way that a portion of the second proximalshoulder spur gear is directly secured to a portion of the fourthproximal shoulder bevel gear; and/or the proximal shoulder sun gear andthe fifth proximal shoulder bevel gear are directly coupled to oneanother in such a way that a portion of the proximal shoulder sun gearis secured to a portion of the fifth proximal shoulder bevel gear;and/or the first distal shoulder bevel gear is driven by the firstproximal motor drive portion of the first proximal motor to rotaterelative to the first axis via one or more spur gears provided betweenthe first distal shoulder bevel gear and the first proximal motor driveportion of the first proximal motor.
 5. The robotic arm assembly ofclaim 3, wherein one or more of the following apply: the first proximalshoulder spur gear and the third proximal shoulder bevel gear areconnected to one another via a first common elongated member connectedat one end to the first proximal shoulder spur gear and at another endto the third proximal shoulder bevel gear, the first proximal shoulderspur gear, the third proximal shoulder bevel gear, and the first commonelongated member having a common central axis of rotation; and/or thesecond proximal shoulder spur gear and the fourth proximal shoulderbevel gear are connected to one another via a second common elongatedmember connected at one end to the second proximal shoulder spur gearand at another end to the fourth proximal shoulder bevel gear, thesecond proximal shoulder spur gear, the fourth proximal shoulder bevelgear, and the second common elongated member having a common centralaxis of rotation; and/or the proximal shoulder sun gear and the fifthproximal shoulder bevel gear are connected to one another via a thirdcommon elongated member connected at one end to the proximal shouldersun gear and at another end to the fifth proximal shoulder bevel gear,the proximal shoulder sun gear, the fifth proximal shoulder bevel gear,and the third common elongated member having a common central axis ofrotation.
 6. The robotic arm assembly of claim 1, wherein the distal endof the forearm segment is securable to an end effector assembly via awrist joint.
 7. The robotic arm assembly of claim 1, wherein the elbowcoupling joint assembly connects the proximal end of the forearm segmentto the distal end of the upper arm segment via a serial arrangement of aproximal elbow joint and a distal elbow joint.
 8. A robotic armassembly, the robotic arm assembly comprising: a forearm segment, theforearm segment formed as an elongated structure with a proximal end anda distal end; an upper arm segment, the upper arm segment formed as anelongated structure with a proximal end and a distal end, the upper armsegment having: a first proximal motor, the first proximal motor havinga first proximal motor drive portion at the proximal end of the upperarm segment, the first proximal motor drive portion configured to rotaterelative to a first axis, the first axis being parallel to a centralaxis of the upper arm segment; a shoulder segment, the shoulder segmenthaving a proximal end and a distal end; an elbow coupling jointassembly, the elbow coupling joint assembly connecting the proximal endof the forearm segment to the distal end of the upper arm segment; and ashoulder coupling joint assembly, the shoulder coupling joint assemblyconnecting the proximal end of the upper arm segment to the distal endof the shoulder segment, the shoulder coupling joint assembly having: adistal shoulder joint subassembly connected at a distal end to theproximal end of the upper arm segment, the distal shoulder jointsubassembly configurable to be driven in such a way as to pivotallyrotate the upper arm segment relative to a first main shoulder axis; aproximal shoulder joint subassembly connecting the distal end of theshoulder segment to the distal shoulder joint subassembly, the proximalshoulder joint subassembly including a gear train system having aplurality of gear stages including: a first proximal shoulder gearstage, the first proximal shoulder gear stage having: a first proximalshoulder bevel gear configured to be driven by the first proximal motordrive portion of the first proximal motor to rotate relative to thefirst axis; a second proximal shoulder bevel gear drivable by the firstproximal shoulder bevel gear, the second proximal shoulder bevel gearconfigured to rotate relative to a first main shoulder axis when drivenby the first proximal shoulder bevel gear, the first main shoulder axisbeing orthogonal to the first axis; and a third proximal shoulder bevelgear drivable by the second proximal shoulder bevel gear, the thirdproximal shoulder bevel gear configured to rotate relative to an axisorthogonal to the first main shoulder axis when the first proximalshoulder bevel gear drives the second proximal shoulder bevel gear torotate relative to the first main shoulder axis; a second proximalshoulder gear stage, the second proximal shoulder gear stage having: afirst proximal shoulder spur gear connected to the third proximalshoulder bevel gear, the first proximal shoulder spur gear configured torotate relative to a same axis of rotation as the third proximalshoulder bevel gear when the third proximal shoulder bevel gear isdriven to rotate; and a second proximal shoulder spur gear drivable bythe first proximal shoulder spur gear, the second proximal shoulder spurgear configured to rotate relative to an axis of rotation that isparallel to the axis of rotation of the first proximal shoulder spurgear when the second proximal shoulder spur gear is driven by the firstproximal shoulder spur gear; a third proximal shoulder gear stage, thethird proximal shoulder gear stage having: a fourth proximal shoulderbevel gear connected to the second proximal shoulder spur gear, thefourth proximal shoulder bevel gear configured to be driven by thesecond proximal shoulder spur gear to rotate relative to the same axisof rotation as that of the second proximal shoulder spur gear; and afifth proximal shoulder bevel gear drivable by the fourth proximalshoulder bevel gear, the fifth proximal shoulder bevel gear configuredto rotate relative to a second main shoulder axis when driven by thefourth proximal shoulder bevel gear, the second main shoulder axis beingorthogonal to the first main shoulder axis; and a fourth proximalshoulder gear stage, the fourth proximal shoulder gear stage having aproximal shoulder planetary gear assembly, the proximal shoulderplanetary gear assembly having: a proximal shoulder sun gear configuredto be driven by the fifth proximal shoulder bevel gear to rotaterelative to the second main shoulder axis; a proximal shoulder ring gearconfigured to not rotate relative to the second main shoulder axis; aplurality of proximal shoulder planetary gears drivable by the proximalshoulder sun gear; and a proximal shoulder planetary gear carrierconnected at one end to the plurality of proximal shoulder planetarygears in such a way that when the proximal shoulder sun gear rotatesrelative to the second main shoulder axis, the proximal shoulderplanetary gear carrier rotates relative to the second main shoulderaxis, wherein the proximal shoulder planetary gear carrier is connectedat another end to the distal end of the shoulder segment in such a waythat when the proximal shoulder sun gear is driven to rotate relative tothe second main shoulder axis, the proximal shoulder planetary gearcarrier drives the upper arm segment to pivotally rotate relative to thesecond main shoulder axis.
 9. The robotic arm assembly of claim 8,wherein the upper arm segment further comprises: a second proximalmotor, the second proximal motor having a second proximal motor driveportion at the proximal end of the upper arm segment, the secondproximal motor drive portion configured to rotate relative to a secondaxis, the second axis being parallel to the first axis.
 10. The roboticarm assembly of claim 9, wherein the distal shoulder joint subassemblyincludes a gear train system having a plurality of gear stagesincluding: a first distal shoulder gear stage, the first distal shouldergear stage having: a first distal shoulder bevel gear configured to bedriven by the second proximal motor drive portion of the second proximalmotor to rotate relative to the second axis; and a second distalshoulder bevel gear drivable by the first distal shoulder bevel gear,the second distal shoulder bevel gear configured to rotate relative tothe first main shoulder axis when driven by the first distal shoulderbevel gear, the first main shoulder axis being orthogonal to the firstaxis; and a second distal shoulder gear stage, the second distalshoulder gear stage having a distal shoulder planetary gear assembly,the distal shoulder planetary gear assembly having: a distal shouldersun gear connected to the second distal shoulder bevel gear, the distalshoulder sun gear configured to be driven by the second distal shoulderbevel gear to rotate relative to the first main shoulder axis; a distalshoulder ring gear configured to not rotate relative to the first mainshoulder axis; a plurality of distal shoulder planetary gears drivableby the distal shoulder sun gear; and a distal shoulder planetary gearcarrier connected at one end to the plurality of distal shoulderplanetary gears in such a way that when the distal shoulder sun gearrotates relative to the first main shoulder axis, the distal shoulderplanetary gear carrier rotates relative to the first main shoulder axis.11. The robotic arm assembly of claim 8, wherein the distal end of theforearm segment is securable to an end effector assembly via a wristjoint.
 12. The robotic arm assembly of claim 8, wherein one or more ofthe following apply: the first proximal shoulder spur gear and the thirdproximal shoulder bevel gear are directly connected to one another insuch a way that a portion of the first proximal shoulder spur gear issecured to a portion of the third proximal shoulder bevel gear; and/orthe second proximal shoulder spur gear and the fourth proximal shoulderbevel gear are directly connected to one another in such a way that aportion of the second proximal shoulder spur gear is directly secured toa portion of the fourth proximal shoulder bevel gear; and/or theproximal shoulder sun gear and the fifth proximal shoulder bevel gearare directly coupled to one another in such a way that a portion of theproximal shoulder sun gear is secured to a portion of the fifth proximalshoulder bevel gear; and/or the first proximal shoulder bevel gear isdriven by the first proximal motor drive portion of the first proximalmotor to rotate relative to the first axis via one or more spur gearsprovided between the first proximal shoulder bevel gear and the firstproximal motor drive portion of the first proximal motor.
 13. Therobotic arm assembly of claim 8, wherein one or more of the followingapply: the first proximal shoulder spur gear and the third proximalshoulder bevel gear are connected to one another via a first commonelongated member connected at one end to the first proximal shoulderspur gear and at another end to the third proximal shoulder bevel gear,the first proximal shoulder spur gear, the third proximal shoulder bevelgear, and the first common elongated member having a common central axisof rotation; and/or the second proximal shoulder spur gear and thefourth proximal shoulder bevel gear are connected to one another via asecond common elongated member connected at one end to the secondproximal shoulder spur gear and at another end to the fourth proximalshoulder bevel gear, the second proximal shoulder spur gear, the fourthproximal shoulder bevel gear, and the second common elongated memberhaving a common central axis of rotation; and/or the proximal shouldersun gear and the fifth proximal shoulder bevel gear are connected to oneanother via a third common elongated member connected at one end to theproximal shoulder sun gear and at another end to the fifth proximalshoulder bevel gear, the proximal shoulder sun gear, the fifth proximalshoulder bevel gear, and the third common elongated member having acommon central axis of rotation.
 14. The robotic arm assembly of claim8, wherein the elbow coupling joint assembly connects the proximal endof the forearm segment to the distal end of the upper arm segment via aserial arrangement of a proximal elbow joint and a distal elbow joint.15. A robotic arm assembly, the robotic arm assembly comprising: aforearm segment, the forearm segment formed as an elongated structurewith a proximal end and a distal end; an upper arm segment, the upperarm segment formed as an elongated structure with a proximal end and adistal end, the upper arm segment having: a first proximal motor, thefirst proximal motor having a first proximal motor drive portion at theproximal end of the upper arm segment, the first proximal motor driveportion configured to rotate relative to a first axis of rotation; ashoulder segment, the shoulder segment having a proximal end and adistal end; an elbow coupling joint assembly, the elbow coupling jointassembly connecting the proximal end of the forearm segment to thedistal end of the upper arm segment; and a shoulder coupling jointassembly, the shoulder coupling joint assembly connecting the proximalend of the upper arm segment to the distal end of the shoulder segmentvia a serial arrangement of a distal shoulder joint and a proximalshoulder joint, the distal shoulder joint forming a distal main shoulderaxis, the proximal shoulder joint forming a proximal main shoulder axis,the distal main shoulder axis being orthogonal to the proximal mainshoulder axis, the shoulder coupling joint assembly having: a distalshoulder joint subassembly connected at a distal end to the proximal endof the upper arm segment, the distal shoulder joint subassemblyconfigurable to be driven in such a way as to pivotally rotate the upperarm segment relative to the distal main shoulder axis; a proximalshoulder joint subassembly connecting the distal end of the shouldersegment to the distal shoulder joint subassembly, the proximal shoulderjoint subassembly having: a first proximal shoulder bevel gearconfigured to be driven by the first proximal motor drive portion of thefirst proximal motor; a first proximal shoulder integrated gearassembly, the first proximal shoulder integrated gear assembly having: afirst integrated bevel gear portion, the first integrated bevel gearportion configured to be driven by the first proximal shoulder bevelgear when the first proximal shoulder bevel gear is driven by the firstproximal motor drive portion of the first proximal motor; and a firstintegrated spur gear portion, the first integrated spur gear portionadjoined to the first integrated bevel gear portion in such a way thatwhen the first proximal shoulder bevel gear is driven by the firstproximal motor drive portion of the first proximal motor, the firstintegrated bevel gear portion and the first integrated spur gear portionare driven to rotate along a same axis of rotation and same rate ofrotation; a second proximal shoulder integrated gear assembly, thesecond proximal shoulder integrated gear assembly having: a secondintegrated spur gear portion, the second integrated spur gear portionconfigured to be driven by the first integrated spur gear portion whenthe first integrated gear portion is driven by the first proximalshoulder bevel gear; and a second integrated bevel gear portion, thesecond integrated bevel gear portion adjoined to the second integratedspur gear portion in such a way that when the first proximal shoulderbevel gear is driven by the first proximal motor drive portion of thefirst proximal motor, the second integrated spur gear portion and thesecond integrated bevel gear portion are driven to rotate along a sameaxis of rotation and same rate of rotation; a second proximal shoulderbevel gear configured to be driven by the second integrated bevel gearportion of the second proximal shoulder integrated gear assembly torotate relative to the proximal main shoulder axis; a proximal shoulderplanetary gear assembly, the proximal shoulder planetary gear assemblyhaving: a proximal shoulder sun gear, the proximal shoulder sun gearconfigured to be driven by the second proximal shoulder bevel gear torotate relative to the proximal main shoulder axis; a proximal shoulderring gear configured to not rotate relative to the proximal mainshoulder axis; a plurality of proximal shoulder planetary gears drivableby the proximal shoulder sun gear; and a proximal shoulder planetarygear carrier connected at one end to the plurality of proximal shoulderplanetary gears in such a way that when the proximal shoulder sun gearrotates relative to the proximal main shoulder axis, the proximalshoulder planetary gear carrier rotates relative to the proximal mainshoulder axis, wherein the proximal shoulder planetary gear carrier isconnected at another end to the distal end of the shoulder segment insuch a way that when the proximal shoulder sun gear is driven to rotaterelative to the proximal main shoulder axis, the proximal shoulderplanetary gear carrier drives the upper arm segment to pivotally rotaterelative to the proximal main shoulder axis.
 16. The robotic armassembly of claim 15, wherein the upper arm segment further comprises: asecond proximal motor, the second proximal motor having a secondproximal motor drive portion at the proximal end of the upper armsegment, the second proximal motor drive portion configured to rotaterelative to a second axis of rotation, the second axis of rotation beingparallel to the first axis of rotation.
 17. The robotic arm assembly ofclaim 16, wherein the distal shoulder joint subassembly includes: afirst distal shoulder stage, the first distal shoulder stage having: afirst distal shoulder bevel gear configured to be driven by the secondproximal motor drive portion of the second proximal motor to rotaterelative to the second axis of rotation; and a second distal shoulderbevel gear drivable by the first distal shoulder bevel gear, the seconddistal shoulder bevel gear configured to rotate relative to the distalmain shoulder axis when driven by the first distal shoulder bevel gear;and a second distal shoulder stage, the second distal shoulder stagehaving a distal shoulder planetary gear assembly, the distal shoulderplanetary gear assembly having: a distal shoulder sun gear connected tothe second distal shoulder bevel gear, the distal shoulder sun gearconfigured to be driven by the second distal shoulder bevel gear torotate relative to the distal main shoulder axis; a distal shoulder ringgear configured to not rotate relative to the distal main shoulder axis;a plurality of distal shoulder planetary gears drivable by the distalshoulder sun gear; and a distal shoulder planetary gear carrierconnected at one end to the plurality of distal shoulder planetary gearsin such a way that when the distal shoulder sun gear rotates relative tothe distal main shoulder axis, the distal shoulder planetary gearcarrier rotates relative to the distal main shoulder axis, wherein thedistal shoulder planetary gear carrier is connected at another end tothe proximal end of the upper arm segment in such a way that when thedistal shoulder sun gear is driven to rotate relative to the distal mainshoulder axis, the distal shoulder planetary gear carrier drives theupper arm segment to pivotally rotate relative to the distal mainshoulder axis.
 18. The robotic arm assembly of claim 15, wherein thedistal end of the forearm segment is securable to an end effectorassembly via a wrist joint.
 19. The robotic arm assembly of claim 15,wherein the elbow coupling joint assembly connects the proximal end ofthe forearm segment to the distal end of the upper arm segment via aserial arrangement of a proximal elbow joint and a distal elbow joint.20. The robotic arm assembly of claim 15, wherein the proximal shoulderjoint subassembly further includes: a third proximal shoulder bevel gearprovided between the first proximal shoulder bevel gear and the firstproximal shoulder integrated gear assembly, the third proximal shoulderbevel gear having an axis of rotation orthogonal to an axis of rotationof the first proximal shoulder bevel gear and an axis of rotation of thefirst integrated bevel gear portion, the third proximal shoulder bevelgear configured to be driven by the first proximal shoulder bevel gear,wherein when the third proximal shoulder bevel gear is driven to rotaterelative to its axis of rotation by the first proximal shoulder bevelgear, the third proximal shoulder bevel gear drives the first integratedbevel gear portion of the first proximal shoulder integrated gearassembly to rotate relative to the axis of rotation of the firstintegrated bevel gear portion.
 21. A robotic arm assembly, the roboticarm assembly comprising: a forearm segment, the forearm segment formedas an elongated structure with a proximal end and a distal end; an upperarm segment, the upper arm segment formed as an elongated structure witha proximal end and a distal end, the upper arm segment having: a firstdistal motor, the first distal motor having a first distal motor driveportion at the distal end of the upper arm segment, the first distalmotor drive portion configured to rotate relative to a first axis, thefirst axis being parallel to a central axis of the upper arm segment; asecond distal motor, the second distal motor having a second distalmotor drive portion at the distal end of the upper arm segment, thesecond distal motor drive portion configured to rotate relative to asecond axis, the second axis being parallel to the first axis; a firstproximal motor, the first proximal motor having a first proximal motordrive portion at the proximal end of the upper arm segment, the firstproximal motor drive portion configured to rotate relative to a thirdaxis, the third axis being parallel to the first axis; and a secondproximal motor, the second proximal motor having a second proximal motordrive portion at the proximal end of the upper arm segment, the secondproximal motor drive portion configured to rotate relative to a fourthaxis, the fourth axis being parallel to the first axis; a shouldersegment, the shoulder segment having a proximal end and a distal end; anelbow coupling joint assembly, the elbow coupling joint assemblyconnecting the proximal end of the forearm segment to the distal end ofthe upper arm segment, the elbow coupling joint assembly having: adistal elbow joint subassembly connected at a distal end to the proximalend of the forearm segment, the distal elbow joint subassembly includinga gear train system having a plurality of gear stages including: a firstdistal elbow gear stage, the first distal elbow gear stage having: afirst distal elbow bevel gear connected to the first distal motor driveportion of the first distal motor, the first distal elbow bevel gearconfigured to be driven by the first distal motor to rotate relative tothe first axis; a second distal elbow bevel gear drivable by the firstdistal elbow bevel gear, the second distal elbow bevel gear configuredto rotate relative to a first main elbow axis when driven by the firstdistal elbow bevel gear, the first main elbow axis being orthogonal tothe first axis; and a third distal elbow bevel gear drivable by thesecond distal elbow bevel gear, the third distal elbow bevel gearconfigured to rotate relative to an axis orthogonal to the first mainelbow axis when the first distal elbow bevel gear drives the seconddistal elbow bevel gear to rotate relative to the first main elbow axis;a second distal elbow gear stage, the second distal elbow gear stagehaving: a first distal elbow spur gear connected to the third distalelbow bevel gear, the first distal elbow spur gear configured to rotaterelative to a same axis of rotation as the third distal elbow bevel gearwhen the third distal elbow bevel gear is driven to rotate; and a seconddistal elbow spur gear drivable by the first distal elbow spur gear, thesecond distal elbow spur gear configured to rotate relative to an axisof rotation that is parallel to the axis of rotation of the first distalelbow spur gear when the second distal elbow spur gear is driven by thefirst distal elbow spur gear; a third distal elbow gear stage, the thirddistal elbow gear stage having: a fourth distal elbow bevel gearconnected to the second distal elbow spur gear, the fourth distal elbowbevel gear configured to be driven by the second distal elbow spur gearto rotate relative to the same axis of rotation as that of the seconddistal elbow spur gear; and a fifth distal elbow bevel gear drivable bythe fourth distal elbow bevel gear, the fifth distal elbow bevel gearconfigured to rotate relative to a second main elbow axis when driven bythe fourth distal elbow bevel gear, the second main elbow axis beingorthogonal to the first main elbow axis; and a fourth distal elbow gearstage, the fourth distal elbow gear stage having a distal elbowplanetary gear assembly, the distal elbow planetary gear assemblyhaving: a distal elbow sun gear connected to the fifth distal elbowbevel gear, the distal elbow sun gear configured to be driven by thefifth distal elbow bevel gear to rotate relative to the second mainelbow axis; a distal elbow ring gear configured to not rotate relativeto the second main elbow axis; a plurality of distal elbow planetarygears drivable by the distal elbow sun gear; and a distal elbowplanetary gear carrier connected at one end to the plurality of distalelbow planetary gears in such a way that when the distal elbow sun gearrotates relative to the second main elbow axis, the distal elbowplanetary gear carrier rotates relative to the second main elbow axis,wherein the distal elbow planetary gear carrier is connected at anotherend to the proximal end of the forearm segment in such a way that whenthe distal elbow sun gear is driven to rotate relative to the secondmain elbow axis, the distal elbow planetary gear carrier drives theforearm segment to pivotally rotate relative to the second main elbowaxis; and a proximal elbow joint subassembly connecting the distal endof the upper arm segment to the distal elbow joint subassembly, theproximal elbow joint subassembly including a gear train system having aplurality of gear stages including: a first proximal elbow stage, thefirst proximal elbow stage having: a first proximal elbow bevel gearconnected to the second distal motor drive portion of the second distalmotor, the first proximal elbow bevel gear configured to be driven bythe second distal motor to rotate relative to the second axis; and asecond proximal elbow bevel gear drivable by the first proximal elbowbevel gear, the second proximal elbow bevel gear configured to rotaterelative to the first main elbow axis when driven by the first proximalelbow bevel gear; and a second proximal elbow stage, the second proximalelbow stage having a proximal elbow planetary gear assembly, theproximal elbow planetary gear assembly having: a proximal elbow sun gearconnected to the second proximal elbow bevel gear, the proximal elbowsun gear configured to be driven by the second proximal elbow bevel gearto rotate relative to the first main elbow axis; a proximal elbow ringgear configured to not rotate relative to the first main elbow axis; aplurality of proximal elbow planetary gears drivable by the proximalelbow sun gear; and a proximal elbow planetary gear carrier connected atone end to the plurality of proximal elbow planetary gears in such a waythat when the proximal elbow sun gear rotates relative to the first mainelbow axis, the proximal elbow planetary gear carrier rotates relativeto the first main elbow axis, wherein the proximal elbow planetary gearcarrier is connected at another end to the distal end of the upper armsegment in such a way that when the proximal elbow sun gear is driven torotate relative to the first main elbow axis, the proximal elbowplanetary gear carrier drives the forearm segment to pivotally rotaterelative to the first main elbow axis; and a shoulder coupling jointassembly, the shoulder coupling joint assembly connecting the proximalend of the upper arm segment to the distal end of the shoulder segment,the shoulder coupling joint assembly having: a distal shoulder jointsubassembly connected at a distal end to the proximal end of the upperarm segment, the distal shoulder joint subassembly including a geartrain system having a plurality of gear stages including: a first distalshoulder stage, the first distal shoulder stage having: a first distalshoulder bevel gear connected to the first proximal motor drive portionof the first proximal motor, the first distal shoulder bevel gearconfigured to be driven by the first proximal motor to rotate relativeto the third axis; and a second distal shoulder bevel gear drivable bythe first distal shoulder bevel gear, the second distal shoulder bevelgear configured to rotate relative to a first main shoulder axis whendriven by the first distal shoulder bevel gear, the first main shoulderaxis being orthogonal to the third axis; and a second distal shoulderstage, the second distal shoulder stage having a distal shoulderplanetary gear assembly, the distal shoulder planetary gear assemblyhaving: a distal shoulder sun gear connected to the second distalshoulder bevel gear, the distal shoulder sun gear configured to bedriven by the second distal shoulder bevel gear to rotate relative tothe first main shoulder axis; a distal shoulder ring gear configured tonot rotate relative to the first main shoulder axis; a plurality ofdistal shoulder planetary gears drivable by the distal shoulder sungear; and a distal shoulder planetary gear carrier connected at one endto the plurality of distal shoulder planetary gears in such a way thatwhen the distal shoulder sun gear rotates relative to the first mainshoulder axis, the distal shoulder planetary gear carrier rotatesrelative to the first main shoulder axis, wherein the distal shoulderplanetary gear carrier is connected at another end to the proximal endof the upper arm segment in such a way that when the distal shoulder sungear is driven to rotate relative to the first main shoulder axis, thedistal shoulder planetary gear carrier drives the upper arm segment topivotally rotate relative to the first main shoulder axis; a proximalshoulder joint subassembly connecting the distal end of the shouldersegment to the distal shoulder joint subassembly, the proximal shoulderjoint subassembly including a gear train system having a plurality ofgear stages including: a first proximal shoulder gear stage, the firstproximal shoulder gear stage having: a first proximal shoulder bevelgear connected to the second proximal motor drive portion of the secondproximal motor, the first proximal shoulder bevel gear configured to bedriven by the second proximal motor to rotate relative to the fourthaxis; a second proximal shoulder bevel gear drivable by the firstproximal shoulder bevel gear, the second proximal shoulder bevel gearconfigured to rotate relative to the first main shoulder axis whendriven by the first proximal shoulder bevel gear; and a third proximalshoulder bevel gear drivable by the second proximal shoulder bevel gear,the third proximal shoulder bevel gear configured to rotate relative toan axis orthogonal to the first main shoulder axis when the firstproximal shoulder bevel gear drives the second proximal shoulder bevelgear to rotate relative to the first main shoulder axis; a secondproximal shoulder gear stage, the second proximal shoulder gear stagehaving: a first proximal shoulder spur gear connected to the thirdproximal shoulder bevel gear, the first proximal shoulder spur gearconfigured to rotate relative to a same axis of rotation as the thirdproximal shoulder bevel gear when the third proximal shoulder bevel gearis driven to rotate; and a second proximal shoulder spur gear drivableby the first proximal shoulder spur gear, the second proximal shoulderspur gear configured to rotate relative to an axis of rotation that isparallel to the axis of rotation of the first proximal shoulder spurgear when the second proximal shoulder spur gear is driven by the firstproximal shoulder spur gear; a third proximal shoulder gear stage, thethird proximal shoulder gear stage having: a fourth proximal shoulderbevel gear connected to the second proximal shoulder spur gear, thefourth proximal shoulder bevel gear configured to be driven by thesecond proximal shoulder spur gear to rotate relative to the same axisof rotation as that of the second proximal shoulder spur gear; and afifth proximal shoulder bevel gear drivable by the fourth proximalshoulder bevel gear, the fifth proximal shoulder bevel gear configuredto rotate relative to a second main shoulder axis when driven by thefourth proximal shoulder bevel gear, the second main shoulder axis beingorthogonal to the first main shoulder axis; and a fourth proximalshoulder gear stage, the fourth proximal shoulder gear stage having aproximal shoulder planetary gear assembly, the proximal shoulderplanetary gear assembly having: a proximal shoulder sun gear connectedto the fifth proximal shoulder bevel gear, the proximal shoulder sungear configured to be driven by the fifth proximal shoulder bevel gearto rotate relative to the second main shoulder axis; a proximal shoulderring gear configured to not rotate relative to the second main shoulderaxis; a plurality of proximal shoulder planetary gears drivable by theproximal shoulder sun gear; and a proximal shoulder planetary gearcarrier connected at one end to the plurality of proximal shoulderplanetary gears in such a way that when the proximal shoulder sun gearrotates relative to the second main shoulder axis, the proximal shoulderplanetary gear carrier rotates relative to the second main shoulderaxis, wherein the proximal shoulder planetary gear carrier is connectedat another end to the distal end of the shoulder segment in such a waythat when the proximal shoulder sun gear is driven to rotate relative tothe second main shoulder axis, the proximal shoulder planetary gearcarrier drives the upper arm segment to pivotally rotate relative to thesecond main shoulder axis.